CN118220187A

CN118220187A - Controller loosening warning method, device, storage medium and vehicle

Info

Publication number: CN118220187A
Application number: CN202410390267.XA
Authority: CN
Inventors: 邱洪祥; 胡丰宾
Original assignee: Beiqi Foton Motor Co Ltd
Current assignee: Beiqi Foton Motor Co Ltd
Priority date: 2024-04-01
Filing date: 2024-04-01
Publication date: 2024-06-21

Abstract

The disclosure relates to a controller loosening early warning method, a controller loosening early warning device, a storage medium and a vehicle, which can discover the controller loosening problem in time and improve the reliability of the controller so as to ensure the driving safety. The method comprises the following steps: acquiring acceleration acquired by the acceleration sensor; sequentially comparing the acceleration with the target local value ranges corresponding to different tightness degrees until a target local value range where the acceleration is located is determined, and setting a target value of a tightness state zone bit according to the target tightness degree corresponding to the target local value range; and under the condition that the target value of the tightness state flag bit represents the loosening of the controller, carrying out controller loosening early warning.

Description

Controller loosening early warning method and device, storage medium and vehicle

Technical Field

The disclosure relates to the technical field of vehicle control, in particular to a controller loosening early warning method, a controller loosening early warning device, a storage medium and a vehicle.

Background

In a vehicle, a controller carrying an acceleration sensor is usually fastened to a controller bracket by bolts, and the acceleration sensor can be used for vehicle weight calculation and ramp control.

In the related art, after a controller carrying an acceleration sensor is loosened from a support thereof, the problems of damage to hardware of the controller, failure of control logic and the like are easily caused, and driving safety is affected.

Disclosure of Invention

The disclosure aims to provide a controller loosening early warning method, a device, a storage medium and a vehicle, so as to early warn the loosening phenomenon of a controller carrying an acceleration sensor, thereby improving the safety of the vehicle.

To achieve the above object, in a first aspect, the present disclosure provides a controller release warning method, the controller including an acceleration sensor, the method including:

acquiring acceleration acquired by the acceleration sensor;

Sequentially comparing the acceleration with the target local value ranges corresponding to different tightness degrees until a target local value range where the acceleration is located is determined, and setting a target value of a tightness state zone bit according to the target tightness degree corresponding to the target local value range;

and under the condition that the target value of the tightness state flag bit represents the loosening of the controller, carrying out controller loosening early warning.

Optionally, the direction of the acceleration includes a lateral direction, a longitudinal direction, and a vertical direction;

The step of sequentially comparing the acceleration with the standard local value ranges corresponding to different degrees of tightness comprises the following steps:

Determining corresponding target domain value ranges to be compared with different tightness degrees according to the target direction of the acceleration;

and comparing the acceleration with each to-be-compared standard domain value range in sequence.

Optionally, the comparing the acceleration with the standard domain value ranges corresponding to different degrees of tightness sequentially includes:

sequentially comparing the acceleration with a calibrated threshold range corresponding to the tightness degree fastened to the loosening;

wherein, the tightness degree from fastening to loosening sequentially comprises a first tightness degree, a second tightness degree, a third tightness degree and a fourth tightness degree.

Optionally, before acquiring the acceleration acquired by the acceleration sensor, the method includes:

Determining that the actual gear of the vehicle in the first M seconds of the current sampling period meets a first preset condition;

And determining that the speed of the vehicle in the first M seconds of the current sampling period meets a second preset condition.

Optionally, the first preset condition includes:

The actual gear of the vehicle in the previous M seconds of the current sampling period is consistent with the actual gear of the vehicle in the last sampling period;

The actual gear of the vehicle is consistent with the target gear in the first M seconds of the current sampling period.

Optionally, the second preset condition includes at least one of:

the maximum vehicle speed is smaller than or equal to the sum of the average vehicle speed and a preset vehicle speed threshold value;

The minimum vehicle speed is greater than or equal to the difference between the average vehicle speed and the preset vehicle speed threshold.

Optionally, the method further comprises:

and if the acceleration is not in any calibration threshold range, setting a target value of the tightness state zone bit according to the state to be observed.

In a second aspect, the present disclosure also provides a controller release warning device, the controller including an acceleration sensor, the device comprising:

the acquisition module is used for acquiring the acceleration acquired by the acceleration sensor;

The comparison module is used for sequentially comparing the acceleration with the target local value ranges corresponding to different tightness degrees until the target local value range where the acceleration is located is determined, and setting the target value of the tightness state zone bit according to the target tightness degree corresponding to the target local value range;

and the early warning module is used for carrying out controller loosening early warning under the condition that the target value of the tightness state marker represents the controller loosening.

the comparison module is used for: determining corresponding target domain value ranges to be compared with different tightness degrees according to the target direction of the acceleration; and comparing the acceleration with each to-be-compared standard domain value range in sequence.

Optionally, the comparing module is configured to: sequentially comparing the acceleration with a calibrated threshold range corresponding to the tightness degree fastened to the loosening; wherein, the tightness degree from fastening to loosening sequentially comprises a first tightness degree, a second tightness degree, a third tightness degree and a fourth tightness degree.

Optionally, the apparatus includes a determining module for: before acquiring acceleration acquired by the acceleration sensor, determining that an actual gear of the vehicle in the first M seconds of a current sampling period meets a first preset condition; and determining that the speed of the vehicle in the first M seconds of the current sampling period meets a second preset condition.

Optionally, the first preset condition includes:

Optionally, the second preset condition includes at least one of:

Optionally, the apparatus further comprises a to-be-observed status module for: and if the acceleration is not in any calibration threshold range, setting a target value of the tightness state zone bit according to the state to be observed.

In a third aspect, the present disclosure also provides a vehicle comprising:

A memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of any of the first aspects.

In a fourth aspect, the present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the first aspects.

By adopting the technical scheme, at least the following beneficial technical effects can be achieved:

The acquired acceleration acquired by the acceleration sensor is compared with the calibrated threshold range corresponding to different degrees of tightness, and corresponding state zone bits are set according to comparison results, so that whether the controller loosens or not and whether looseness early warning is performed or not can be determined according to the target value of the state zone bits. By adopting the technical scheme, the controller with the acceleration sensor can be subjected to loosening early warning, so that the problem of loosening of the controller can be found in time, the reliability of the controller is improved, and the driving safety is ensured.

Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:

Fig. 1 is a flowchart illustrating a controller release warning method according to an exemplary embodiment of the present disclosure.

Fig. 2 is a flow chart illustrating a controller release warning method according to an exemplary embodiment of the present disclosure.

Fig. 3 is a block diagram illustrating a controller release warning device according to an exemplary embodiment of the present disclosure.

Fig. 4 is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure.

Detailed Description

Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.

It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

As to the background art, after the controller carrying the acceleration sensor in the related art is loosened from the bracket thereof, the hardware of the controller is easily damaged, and parameters such as the weight of the vehicle and the ramp can not be calculated correctly due to the vibration of the acceleration sensor relative to the bracket, so that the driving safety is affected.

In view of the above, the embodiments of the present disclosure provide a controller release early warning method, device, storage medium, and vehicle, which can discover a controller release problem in time, and improve reliability of the controller, so as to ensure driving safety.

Fig. 1 is a flow chart illustrating a controller release warning method according to an exemplary embodiment of the present disclosure. The method is applied to a vehicle comprising a controller carrying an acceleration sensor.

Referring to fig. 1, the method includes the steps of:

Step S101, acquiring acceleration acquired by an acceleration sensor.

Step S102, comparing the acceleration with the target local value ranges corresponding to different tightness degrees in sequence until the target local value range of the acceleration is determined, and setting the target value of the tightness state zone bit according to the target tightness degree corresponding to the target local value range.

And step S103, carrying out controller loosening early warning under the condition that the target value of the tightness state flag bit represents the controller loosening.

It should be appreciated that in the event that the target value of the slack status flag characterizes a controller loosening, the warning information may be output by the vehicle's instrument unit. The controller loosening early warning signal CAN be sent to the instrument through the CAN bus by the whole vehicle controller.

For example, the output form of the early warning information can be warning words and buzzes, for example, the screen of the instrument displays the related words that the controller loosens, and meanwhile, the audible warning accompanied by buzzes is provided.

By the mode, the acquired acceleration acquired by the acceleration sensor can be compared with the calibrated threshold range corresponding to different degrees of tightness, and the corresponding state zone bit is set according to the comparison result, so that whether the controller loosens or not and whether looseness early warning is carried out or not can be determined according to the target value of the state zone bit. By adopting the technical scheme, the controller with the acceleration sensor can be subjected to loosening early warning, so that the problem of loosening of the controller can be found in time, the reliability of the controller is improved, and the driving safety is ensured.

In order to make those skilled in the art more aware of the controller release warning method in the above embodiments of the present disclosure, the following illustrates the above steps.

It should be understood that acceleration sensors in the lateral, longitudinal and vertical directions are provided in the controller to measure accelerations in three directions. Through the sensors, the controller can acquire acceleration information of the vehicle in different directions, so that corresponding control and adjustment can be performed. Thus, optionally, the direction of acceleration includes a lateral direction, a longitudinal direction, and a vertical direction.

In some embodiments, different acceleration directions may correspond to different calibration threshold ranges.

Alternatively, an embodiment of sequentially comparing the acceleration with the predetermined threshold ranges corresponding to different degrees of tightness may be: determining the target direction of the acceleration, and determining corresponding target threshold ranges to be compared of different degrees of tightness according to the target direction of the acceleration; and comparing the acceleration with each standard domain value range to be compared in sequence.

Under different tightness degrees, the controller with the acceleration sensor has different threshold value ranges with the corresponding acceleration sensors in the transverse direction, the longitudinal direction and the vertical direction, and whether the controller with the acceleration sensor is fastened on the bracket can be determined by calibrating the threshold value ranges of the acceleration sensor.

In some embodiments, in the case that the acceleration sensor measures an acceleration signal corresponding to at least one of a longitudinal acceleration, a lateral acceleration, and a vertical direction, the acceleration signal measured by the acceleration sensor may be preprocessed, for example, a specific manner of filtering is performed on the acceleration signal measured by the acceleration sensor, so as to obtain a filtered longitudinal acceleration signal, a filtered lateral acceleration signal, and an acceleration corresponding to at least one of a filtered vertical direction. This way, the influence of noise can be reduced, and effective data can be extracted.

For example, the threshold ranges of the acceleration sensors in three directions under different tightness degrees can obtain specific values through calibration, for example, according to actual conditions, actual measurement data can be collected and analyzed through experimental tests and calibrated, and the embodiment of the disclosure is not limited to this.

For example, a table as shown in table 1 below may be plotted and the calibrated data may be summarized.

	Lateral acceleration	Longitudinal acceleration	Acceleration in the vertical direction
				Minimum value	x_min	y_min	z_min
Maximum value	x_max	y_max	z_max

TABLE 1

For example, the degree of tightness can be divided into preliminary release, moderate release and complete release. Wherein, complete loosening means that at least one fastening bolt is completely loosened; preliminary loosening means that only one of the fastening bolts is loosened within one circle; moderate release refers to a condition intermediate between full release and preliminary release. In particular, assuming that a controller carrying an acceleration sensor is fastened by four bolts, the complete release is theoretically provided withA mode of the method. If the situation that three or four bolts are loosened, which is difficult to generate, is eliminated, there are alsoA mode of the method. While the primary release is carried out, there areMode(s). Thus, for each of the initial release, the moderate release, and the complete release, several cases can be divided, and tables shown in tables 2, 3, and 4 below are plotted to summarize the calibrated data.

TABLE 2

TABLE 3 Table 3

TABLE 4 Table 4

Through the mode, the calibration threshold value ranges of different tightness degrees in the corresponding directions can be determined according to the target direction of the acceleration, and finer controller tightness degree detection is achieved. Therefore, the loosening problem of the controller can be diagnosed more accurately, corresponding measures can be taken in time, and the risk of damage to the controller is reduced.

Alternatively, an embodiment of sequentially comparing the acceleration with the predetermined threshold ranges corresponding to different degrees of tightness may be: sequentially comparing the acceleration with a calibrated threshold range corresponding to the tightness degree fastened to the loosening; wherein, the tightness degree from fastening to loosening sequentially comprises a first tightness degree, a second tightness degree, a third tightness degree and a fourth tightness degree.

For example, the first degree of tightness may be fastening, the second degree of tightness may be preliminary loosening, the third degree of tightness may be moderate loosening, and the fourth degree of tightness may be complete loosening.

By means of the method, the acceleration is compared with the calibrated threshold range of the loosening degree fastened to the loosening degree, so that the loosening problem of the controller can be accurately diagnosed, appropriate repair measures are adopted according to corresponding early warning prompts, and further damage to the controller is avoided.

In one possible manner, before acquiring the acceleration acquired by the acceleration sensor, the method includes:

Determining that the actual gear of the vehicle in the first M seconds of the current sampling period meets a first preset condition; and determining that the speed of the vehicle in the first M seconds of the current sampling period meets a second preset condition.

Optionally, the first preset condition includes:

The actual gear of the vehicle in the previous M seconds of the current sampling period is consistent with the actual gear of the vehicle in the last sampling period; the actual gear of the vehicle in the first M seconds of the current sampling period is consistent with the target gear.

Optionally, the second preset condition includes at least one of:

the maximum vehicle speed is smaller than or equal to the sum of the average vehicle speed and a preset vehicle speed threshold value; the minimum vehicle speed is greater than or equal to the difference between the average vehicle speed and a preset vehicle speed threshold.

It should be appreciated that the first preset condition serves to ensure that the vehicle is in a stable operating condition. Specifically, if the actual gear of the vehicle in the last sampling period coincides with the current period and the actual gear of the vehicle in the current period coincides with the target gear, the gear of the vehicle can be considered to be relatively stable and does not change drastically in a short time. Therefore, the accuracy of detecting acceleration can be improved, and the influence of interference factors of the gear of the vehicle on the detection result is avoided.

It should also be appreciated that the second preset condition serves to ensure the rationality of the vehicle speed. The vehicle speed can be determined to vary within a reasonable range by comparing the sum or difference of the maximum and minimum vehicle speeds within M seconds prior to the current sampling period of the vehicle with the average vehicle speed and a preset vehicle speed threshold. Therefore, the accuracy of detecting acceleration can be improved, and the influence of abnormal fluctuation of the vehicle speed on a detection result is avoided.

For example, the preset vehicle speed threshold may be obtained by a calibration manner, for example, actually measured data may be collected and analyzed through an experimental test according to actual conditions and calibrated, which is not limited by the embodiment of the present disclosure.

For example, the specific value of M seconds and the target gear may be set according to actual situations, which is not limited by the embodiment of the present disclosure.

By the method, the vehicle can be ensured to be in a stable running state according to the first preset condition and the second preset condition, and the interference of external factors on the acceleration detection process is reduced, so that the accuracy and the reliability of the detection result are improved.

In one possible manner, the method further comprises:

if the acceleration is not in any standard range of values, the standard value of the tightness state zone bit is set according to the state to be observed.

It should be understood that, since the threshold range is obtained by calibration of the test, in actual driving, there may be a case where the data collected by the acceleration sensor is not within the calibrated threshold range, and if this is directly ignored, an unstable condition may occur in the system. Therefore, the condition can be used as a state to be observed, and a corresponding tightness state zone bit target value is set. And when the value of the acceleration accords with the state to be observed, the early warning prompt is not triggered.

By the mode, when the data acquired by the acceleration sensor is not in the calibrated threshold range, the target value of the tightness state zone bit can be set according to the state to be observed, so that the state can be identified and distinguished, and the reliability of loosening early warning is further improved.

Fig. 2 is a flow chart illustrating a controller release warning method according to an exemplary embodiment of the present disclosure, and referring to fig. 2, the controller release warning method may include the steps of:

Step S201, acquiring actual gear and vehicle speed information of a vehicle.

Step S202, judging whether the actual gear in the previous M seconds of the current sampling period is consistent with the last sampling period, and judging whether the actual gear in the previous M seconds of the current sampling period is consistent with the target gear. If yes, go to step S203, otherwise return to step S201.

Step S203, judging whether the vehicle speed in the first M seconds of the current sampling period is maintained in a preset fluctuation range, if yes, executing step S204, otherwise, returning to step S201.

Step S204, acquiring acceleration acquired by the acceleration sensor, and filtering and outputting the acceleration.

In step S205, it is determined whether the acceleration meets the fastening standard in the first N seconds of the current sampling period. If yes, step S206 is executed, otherwise step S207 is executed.

Step S206, fastening state flag position 0.

Step S207, judging whether the acceleration accords with the preliminary release standard in the first N seconds of the current sampling period. If yes, step S208 is executed, otherwise step S209 is executed.

Step S208, the fastening state is marked with the position 1 and early warning is carried out.

Step S209, judging whether the acceleration accords with the moderate loosening standard in the first N seconds of the current sampling period. If yes, step S210 is executed, otherwise step S211 is executed.

Step S210, fastening state is marked with the position 2 and early warning is carried out.

Step S211, judging whether the acceleration accords with the complete release standard in the first N seconds of the current sampling period. If yes, step S212 is executed, otherwise step S213 is executed.

Step S212, the fastening state is marked with the position 3 and early warning is carried out.

Step S213, the fastening state flag position 4 is set.

For example, specific values for M seconds and N seconds may be set in connection with actual situations, which are not limited by the embodiments of the present disclosure.

For example, regarding the warning information, when the fastening state is position 1, it is possible to display on the instrument panel: preliminary loosening occurs, and the driver is asked to get off for checking; when the fastening state is position 2, it can be displayed on the dashboard: a moderate loosening occurs, and the driver is asked to get off for checking; when the fastening state is position 3, it can be displayed on the dashboard: complete release occurs and the vehicle is taken off for viewing.

Based on the same inventive concept, the embodiments of the present disclosure further provide a controller release early warning device 300, the controller including an acceleration sensor, referring to fig. 3, the device 300 includes:

An acquisition module 301, configured to acquire acceleration acquired by an acceleration sensor;

The comparison module 302 is configured to sequentially compare the acceleration with the target local value ranges corresponding to different degrees of tightness until a target local value range in which the acceleration is located is determined, and set a target value of the tightness status flag bit according to the target degree of tightness corresponding to the target local value range;

And the early warning module 303 is used for carrying out early warning on the loosening of the controller under the condition that the target value of the tightness state flag bit represents the loosening of the controller.

Through the device, the acquired acceleration acquired by the acceleration sensor can be compared with the calibrated threshold range corresponding to different degrees of tightness, and the corresponding state zone bit is set according to the comparison result, so that whether the controller loosens or not and whether looseness early warning is carried out or not can be determined according to the target value of the state zone bit. By adopting the technical scheme, the controller with the acceleration sensor can be subjected to loosening early warning, so that the problem of loosening of the controller can be found in time, the reliability of the controller is improved, and the driving safety is ensured.

Optionally, the direction of acceleration includes a lateral direction, a longitudinal direction, and a vertical direction;

The comparison module 302 is configured to: determining corresponding target value ranges to be compared with different tightness degrees according to the target direction of the acceleration; and comparing the acceleration with each standard domain value range to be compared in sequence.

Optionally, the comparing module 302 is configured to: sequentially comparing the acceleration with a calibrated threshold range corresponding to the tightness degree fastened to the loosening; wherein, the tightness degree from fastening to loosening sequentially comprises a first tightness degree, a second tightness degree, a third tightness degree and a fourth tightness degree.

Optionally, the apparatus 300 includes a determining module for: before acquiring acceleration acquired by an acceleration sensor, determining that the actual gear of the vehicle in the first M seconds of the current sampling period meets a first preset condition; and determining that the speed of the vehicle in the first M seconds of the current sampling period meets a second preset condition.

Optionally, the first preset condition includes:

the actual gear of the vehicle in the first M seconds of the current sampling period is consistent with the target gear.

Optionally, the second preset condition includes at least one of:

the minimum vehicle speed is greater than or equal to the difference between the average vehicle speed and a preset vehicle speed threshold.

Optionally, the apparatus 300 further comprises a to-be-observed status module for: if the acceleration is not in any standard range of values, the standard value of the tightness state zone bit is set according to the state to be observed.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 4 is a block diagram of a vehicle 400, according to an exemplary embodiment. For example, the vehicle 400 may be one of electric vehicles. The vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 4, a vehicle 400 may include various subsystems, such as an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. Wherein the vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 400 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 420 may include several sensors for sensing information of the environment surrounding the vehicle 400. For example, the sensing system 420 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 440 may include components that provide powered movement of the vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 400 are controlled by the computing platform 450. The computing platform 450 may include at least one processor 451 and memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.

The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable GATE ARRAY, FPGA), a System On Chip (SOC), an Application SPECIFIC INTEGRATED Circuit (ASIC), or a combination thereof.

The memory 452 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 453, the memory 452 may also store data such as road maps, route information, vehicle location, direction, speed, etc. The data stored by memory 452 may be used by computing platform 450.

In an embodiment of the present disclosure, the processor 451 may execute the instructions 453 to complete all or part of the steps of the controller release warning method described above.

Based on the same inventive concept, the embodiments of the present disclosure further provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of any of the controller release warning methods described above.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described controller release warning method when executed by the programmable apparatus.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the embodiments described above, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.

In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.

Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims

1. A controller release warning method, characterized in that it is applied to a vehicle, the controller including an acceleration sensor, the method comprising:

acquiring acceleration acquired by the acceleration sensor;

2. The method of claim 1, wherein the direction of acceleration comprises a lateral direction, a longitudinal direction, and a vertical direction;

3. A method according to claim 1 or 2, wherein said comparing said acceleration sequentially with a range of predetermined values corresponding to different degrees of tightness comprises:

4. A method according to claim 3, comprising, prior to acquiring the acceleration acquired by the acceleration sensor:

5. The method of claim 4, wherein the first preset condition comprises:

6. The method according to claim 4 or 5, wherein the second preset condition comprises at least one of:

7. A method according to claim 3, characterized in that the method further comprises:

8. A controller release warning device for a vehicle, the controller including an acceleration sensor, the device comprising:

9. A vehicle, characterized by comprising:

A memory having a computer program stored thereon;

A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-7.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-7.