In order to overcome highly nonlinearity, multi-interference and coupled system of the S-ECR, the Fuzzy PID with Incomplete Derivation (F-PID) control scheme is being proposed. The control algorithm is different ways with different speeds during the vehicle is constant downhill speeds. The intelligent hierarchical control and Cruise control system was established. The system achieves adjust the braking torque for when the vehicle speed is changed, and it has fast response and stable control. The test results show that the control system has good dynamic characteristics. The control algorithm improves the anti-interference ability of the control system and control accuracy. The proposed control system has a greater degree of fine performance to enhance vehicle stability and safety.