## 6 Conclusions  
The proposed braking intention recognition strategy based on the acceleration pedal and brake pedal can realize braking intention recognition and braking strength output under different combined working conditions, and the safety of intention recognition can be improved by introducing hydraulic braking system pressure as a feedback parameter.  
Both simulation and experimental results show the effectiveness and feasibility of the proposed control strategies for braking intention recognition and braking force distribution. The test results show that the vehicle energy recovery efficiency is up to 71.64%, the braking recovery rate is more than 42.5%, and the maximum energy saving of the whole vehicle can be 7.58% under one cycle condition. This can increase the loader driving range and extend the battery lifetime. The electric loader can brake safely and smoothly under light, moderate and emergency braking intentions. And the vehicle has good energy saving and is environmentally friendly.  
The studied walking system mainly considers the engineering application, the structure and transmission chain are relatively simple, and the regenerative braking energy recovery mode is also limited. And there is no in-depth study and analysis of the distributed motor drive configuration nor is there a rational layout of the regenerative braking system. This makes the braking energy recovery limited.  
On the other hand, this paper only carried out coordinated control of walking regenerative braking and hydraulic braking in the braking process of an electric loader, while the braking force distribution strategy of the front and rear wheels was not considered. More accurate control of the braking force of front and rear wheels has important research significance for improving the braking effect, shortening the braking time and braking distance. This is one of the important research directions of the electric loader's braking.  
[PERSON] and [PERSON] conceived and designed the experiments; [PERSON] and [PERSON] performed the experiments; [PERSON] analyzed the data; [PERSON], [PERSON] and [PERSON] wrote the paper. All authors have read and agreed to the published version of the manuscript.  
This research was funded by 2022 Fujian Province young and middle-aged teacher education research project (Science and Technology category) (Grant No. JAT220671), Key projects of natural science foundation of Fujian Province (Grant No. 2021J02013), Fujian University industry university research joint innovation project plan (Grant No. 2022H6007), Xiamen Major Science and Technology Plan Projects (Grant No. 3502Z20231013) and National Natural Science Foundation of China (Grant No. 52275055). The funder was not involved in the study design, collection, analysis, interpretation of data, the writing of this article, or the decision to submit it for publication.  
Not applicable.  
The authors declare no conflict of interest.  
\begin{table}
\begin{tabular}{c c c c c} \hline
**Item** & **Cycle 1** & **Cycle 2** & **Cycle 3** & **Cycle 4** \\ \hline \(E_{\text{k}}\) & 389.23 kJ & 370.51 kJ & 364.27 kJ & 451.44 kJ \\ \(E_{\text{tb}}\) & 249.48 kJ & 234.76 kJ & 228.53 kJ & 315.70 kJ \\ \(E_{\text{mb}}\) & 170.40 kJ & 165.04 kJ & 163.72 kJ & 191.88 kJ \\ \(E_{\text{ec}}\) & 2816.71 kJ & 3043.13 kJ & 2699.88 kJ & 2532.93 kJ \\ \(\eta_{\text{k}}\) & 43.78\% & 44.50\% & 44.94\% & 42.50\% \\ \(\eta_{\text{bd}}\) & 68.3\% & 70.3\% & 71.64\% & 60.78\% \\ \hline \end{tabular}
\end{table}
Table 5: Calculation results of braking energy recovery energy.