Aluminum alloy, a lightweight material, has poor friction and wear properties at high temperatures. Therefore, aluminum matrix composites were prepared by in-situ autogenous method to enhance the high-temperature friction and wear capability of aluminum alloys. (ZrB2+Al3Zr)/AA6016 in-situ aluminum matrix composites were prepared by in-situ reaction with the addition of mixed salts of potassium fluoborate (KBF4) and potassium fluozirconate (K2ZrF6). The materials were characterized by XRD, SEM, and EBSD. The friction and wear properties were investigated mainly by high-temperature friction and wear experiments combined with SEM and XPS. The results show that the wear resistance of (ZrB2+Al3Zr)/AA6016 aluminum matrix composites far exceeds that of their alloys under severe conditions of high temperature. The wear of AMCs first decreases and then increases with increasing temperature. The lowest wear rate was observed at an ambient temperature of 100°C, where the wear rate of AMCs was reduced by a factor of 2.7 compared to that of aluminum alloys. In addition, the enhancement effect of hard and heat-resistant particles was also due to the oxide film generated during friction on the abrasive scar surface layer of AMCs under this condition and the self-lubricating substance (H3BO3). The composite wear mechanism of AMCs was dominated by abrasive, oxidative, and adhesive wear as the test temperature increased.