The nonlinearity of material properties at different temperatures and the manner of braking force applying on a brake system are two key factors to affect the coupling of temperature and thermal stress. Considering these two factors, a finite element analysis model of automobile brake disc and pad is established. By using the model, the dynamic frictional heat and thermal stress of braking friction pair could be simulated and the coupling characters of temperature and thermal stress on friction surfaces could be studied, where the braking force is constant or controlled by an anti-skid brake system(ABS). The study results shown that the friction temperature of brake disk rises in periodic and fluctuant tendency. The fluctuant increase of temperature will influence the character of braking. The increase of friction temperature between a brake disc and pad can decrease under the control of ABS, so the effect of thermo-mechanical coupling could be reduced.