Regenerative　braking　is　an　important　technology　to　improve　fuel　economy　for　electric　vehicles.　Apart　from　improving　energy　recovery　efficiency　and　vehicle　stability,　the　arithmetic　speed　of　the　algorithm　is　also　essential　for　an　automotive-qualified　micro　control　units.　This　paper　presents　a　direct　multiple　shooting　method-based　algorithm　to　achieve　multiple　objectives　for　four　hub-wheel-drive　electric　vehicle　during　mild　braking　situations.　Mathematical　models　of　the　system　are　generated　for　numerical　simulations　in　MATLAB,　including　a　vehicle　dynamics　model,　a　modified　tire　model,　a　single-point　preview　driver　model,　and　a　regenerative　braking　motor　efficiency　map.　With　the　limitation　of　hard　constraint　and　minimization　of　adjustment　rate　in　cost　function,　optimization　tends　to　be　accomplished　by　distribution　of　braking　torque　in　front　and　rear　wheels.　Furthermore,　the　control　strategy　has　been　realized　using　a　direct　multiple　shooting　method　to　convert　the　nonlinear　optimal　control　problem　to　a　nonlinear　programming　problem,　which　will　be　settled　by　adopting　a　sequential　quadratic　programming　method　in　each　subintervals.　The　effectiveness　and　adaptation　of　the　control　strategy　for　four　hub-wheel-drive　electric　vehicle　has　been　evaluated　by　conducting　many　simulations　during　mild　braking　situations,　and　the　simulation　results　also　demonstrated　that　the　direct　multiple　shooting-based　strategy　exhibits　a　better　performance　than　that　of　proportional-integral-based　or　nonlinear　model　predictive　control-based　controller.