The research of hydrogen fuel cell waste heat recovery is a new field of fuel cell thermal management, which helps to improve the overall fuel utilization. At present, the research on the waste heat utilization of fuel cell vehicles is less, and it is more based on the traditional vehicle waste heat management ideas without systematic summary of the factors affecting the system performance. This study takes the waste heat reuse system of fuel cell vehicle as the research object, and established the waste heat exchange rate model and energy consumption model of the waste heat reuse system. Through the study of relevant parameter variables, the effects of parameters on system energy consumption and waste heat exchange rate at low temperature were obtained. The matching design of waste heat reuse system of 60 kW fuel cell vehicle was carried out, and the simulation analysis and experimental verification were done. The results showed that when the ambient temperature is -3 degrees C and -6 degrees C, the waste heat exchange rate of the new matching scheme is 16.2% and 16.3% higher than that of the original scheme, respectively. Also, the total energy consumption of the system is reduced by 62.02% and 60.62%, respectively.