An active safety control system for a vehicle, comprising: a pedal detection device , configured to detect pedal signals of the vehicle; a motor state detection device , configured to detect the states of a plurality of motors of the vehicle; a plurality of wheel speed detection devices , arranged on a plurality of wheels of the vehicle, and configured to detect speeds of the wheels and generating wheel speed detection signals; and a control device , configured to obtain braking torques according to the pedal signals and the wheel speed detection signals, determine a corresponding braking mode according to the states of the plurality of motors, characterized in that the control device is configured to control a plurality of brakes , the plurality of motors and a hydraulic braking device of the vehicle according to the braking mode and the braking torques, wherein the control device further is configured to: when the plurality of motors are all in a normal state, determine that the corresponding braking mode is a regenerative braking control mode; when one motor or two motors on the same axle among the plurality of motors are in a failure state, determine that the corresponding braking mode is a hybrid braking control mode; and when two motors on different axles or more than two motors among the plurality of motors are in a failure state, determine that the corresponding braking mode is a hydraulic braking control mode. a pedal detection device , configured to detect pedal signals of the vehicle; a motor state detection device , configured to detect the states of a plurality of motors of the vehicle; a plurality of wheel speed detection devices , arranged on a plurality of wheels of the vehicle, and configured to detect speeds of the wheels and generating wheel speed detection signals; and a control device , configured to obtain braking torques according to the pedal signals and the wheel speed detection signals, determine a corresponding braking mode according to the states of the plurality of motors, characterized in that the control device is configured to control a plurality of brakes , the plurality of motors and a hydraulic braking device of the vehicle according to the braking mode and the braking torques, wherein the control device further is configured to: when the plurality of motors are all in a normal state, determine that the corresponding braking mode is a regenerative braking control mode; when one motor or two motors on the same axle among the plurality of motors are in a failure state, determine that the corresponding braking mode is a hybrid braking control mode; and when two motors on different axles or more than two motors among the plurality of motors are in a failure state, determine that the corresponding braking mode is a hydraulic braking control mode. when the plurality of motors are all in a normal state, determine that the corresponding braking mode is a regenerative braking control mode; when one motor or two motors on the same axle among the plurality of motors are in a failure state, determine that the corresponding braking mode is a hybrid braking control mode; and when two motors on different axles or more than two motors among the plurality of motors are in a failure state, determine that the corresponding braking mode is a hydraulic braking control mode. <EOS>