In recent years, electric vehicles (EV) are becoming increasingly important because of the environmental problem, such as global warming and less oil reserves. However, almost small EV has only a seat-belt for safety device. To improve the safety, we decided to install an Anti-lock brake system (ABS) device in the small EV. To study the influence of the ABS device upon the vehicle's motion, the presenter researched the numerical simulation of this vehicle. We introduced 2-wheel model and ABS model that considered oil transience condition, for numerical simulation. This paper presented effect of cooperative control of hydraulic brake, mechanical brake and regenerative brake for vehicle motion on icy road.