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It is urgent for automated electric transportation vehicles in coal mines to have the ability of self-adaptive tracking target constant deceleration to ensure stable and safe braking effects in long underground roadways. However, the current braking control system of underground electric trackless rubber-tired vehicles (UETRVs) still adopts multi-level constant braking torque control, which cannot achieve target deceleration closed-loop control. To overcome the disadvantages of lower safety and comfort, and the non-precise stopping distance, this article describes the architecture and working principle of constant deceleration braking systems with an electro-mechanical braking actuator. Then, a deceleration closed-loop control algorithm based on fuzzy neural network PID is proposed and simulated in Matlab/Simulink. Finally, an actual brake control unit (BCU) is built and tested in a real industrial field setting. The test illustrates the feasibility of this constant deceleration control algorithm, which can achieve constant decelerations within a very short time and maintain a constant value of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mo>−</mo><mn>2.5</mn><mo> </mo><mi mathvariant="normal">m</mi><mo>/</mo><mi mathvariant="normal">s</mi></mrow><mrow><mn>2</mn></mrow></msup></mrow></semantics></math></inline-formula> within a deviation of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>±</mo><mn>0.1</mn><mo> </mo><mi mathvariant="normal">m</mi><mo>/</mo><msup><mrow><mi mathvariant="normal">s</mi></mrow><mrow><mn>2</mn></mrow></msup></mrow></semantics></math></inline-formula>, compared with the deviation of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0.11</mn><mo> </mo><mi mathvariant="normal">m</mi><mo>/</mo><msup><mrow><mi mathvariant="normal">s</mi></mrow><mrow><mn>2</mn></mrow></msup></mrow></semantics></math></inline-formula> of fuzzy PID and the deviation of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0.13</mn><mo> </mo><mi mathvariant="normal">m</mi><mo>/</mo><msup><mrow><mi mathvariant="normal">s</mi></mrow><mrow><mn>2</mn></mrow></msup></mrow></semantics></math></inline-formula> of classic PID. This BCU can provide electric and automated mine vehicles with active and smooth deceleration performance, which improves the level of electrification and automation for mine transport machinery.