A vehicle braking energy recovering method, wherein the method comprises: obtaining current location information of a vehicle; determining a current road scenario based on the current location information of the vehicle, wherein the road scenario is defined by road type identification information marked on a map corresponding to the current location information; determining a weight corresponding to the current road scenario, wherein a mapping relationship between road scenario and weight is used, wherein the weight comprises a safe distance weight and a safe speed weight; determining a safe distance between an obstacle and the vehicle based on the safe distance weight, a first safe distance, and a second safe distance, wherein the first safe distance is determined based on the information perceived by the vehicle, and the second safe distance is determined based on information transmitted by an Internet of Vehicles, wherein the Internet of Vehicles is a module configured to obtain and provide surrounding environment parameters for the vehicle; determining a safe speed of the vehicle based on the safe speed weight, a first safe speed, and a second safe speed, wherein the first safe speed is determined based on information perceived by the vehicle, and the second safe speed is determined based on information transmitted by the Internet of Vehicles; determining a target torque based on a target deceleration, which is calculated based on a driving speed of the vehicle, the safe distance and the safe speed of the vehicle; and controlling , based on the target torque, a motor of the vehicle to recover braking energy. obtaining current location information of a vehicle; determining a current road scenario based on the current location information of the vehicle, wherein the road scenario is defined by road type identification information marked on a map corresponding to the current location information; determining a weight corresponding to the current road scenario, wherein a mapping relationship between road scenario and weight is used, wherein the weight comprises a safe distance weight and a safe speed weight; determining a safe distance between an obstacle and the vehicle based on the safe distance weight, a first safe distance, and a second safe distance, wherein the first safe distance is determined based on the information perceived by the vehicle, and the second safe distance is determined based on information transmitted by an Internet of Vehicles, wherein the Internet of Vehicles is a module configured to obtain and provide surrounding environment parameters for the vehicle; determining a safe speed of the vehicle based on the safe speed weight, a first safe speed, and a second safe speed, wherein the first safe speed is determined based on information perceived by the vehicle, and the second safe speed is determined based on information transmitted by the Internet of Vehicles; determining a target torque based on a target deceleration, which is calculated based on a driving speed of the vehicle, the safe distance and the safe speed of the vehicle; and controlling , based on the target torque, a motor of the vehicle to recover braking energy. <EOS>