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When driving in mountainous areas, vehicles often encounter downhill conditions. To ensure safe driving, it is necessary to control the speed of vehicles. For internal combustion engine vehicles, auxiliary brake such as engine brake can be used to alleviate the thermal load caused by the continuous braking of the friction brake. For battery electric vehicles (BEVs), regenerative braking can be used as auxiliary braking to improve brake safety. And through regenerative braking, energy can be partly converted into electrical energy and stored in accumulators (such as power batteries and supercapacitors), thus extending the mileage. However, the driver's line of sight in the mountains is limited, resulting in a certain degree of blindness in driving, so it is impossible to fully guarantee the safety and energy saving of downhill driving.