Road slope is an essential parameter in the study of vehicle driving processes. In future traffic development, constructing road segments with slopes is indispensable. Furthermore, road slope is a fundamental parameter for realizing energy recovery during braking. Hence, research on road slope estimation is extremely crucial. This article proposes a combination of adaptive filtering and strong tracking filter factors for road slope estimation, followed by establishing case settings for verification. It was found that the proposed slope estimation algorithm has a high degree of accuracy in estimating the slope angle, with a mean absolute error (MAE) and a root mean square error (RMSE) of 0.0254 and 0.0359, respectively, at fixed slopes, and a MAE and a RMSE of 0.2799 and 0.3710, respectively, at varying slopes. By combining the slope angle with a braking force distribution optimization algorithm, an optimized braking distribution coefficient is obtained. In the Cruise2019 software, slope angles of 0° and 5° are set and combined with the braking force distribution strategy built in Matlab2021/Simulink for verification under China Heavy-duty Commercial Vehicle Test Cycle (CHTC-HT) and Worldwide Transient Vehicle Cycle (C-WTVC) conditions. The recovered energy increased by 7.24% and 4.99%, respectively, under CHTC-HT conditions, and by 6.42% and 1.73%, respectively, under C-WTVC.