Monitoring method and device for determination of gear-stick position, vehicle controller, and vehicle

A vehicle controller, comprising a monitoring device for determination of a gear-stick position, and the monitoring device for determination of a gear-stick position comprising:

• an acquisition module, configured to acquire a first actual gear-stick position and a first acceptable gear-stick position calculated by a functional layer;
• a calculation module, configured to calculate a second actual gear-stick position according to a gear-stick position signal;
• a first determination module, configured to determine whether the first actual gear-stick position and the second actual gear-stick position are consistent;
• a second determination module, configured to determine, in case that the first actual gear-stick position and the second actual gear-stick position are consistent. whether the first acceptable gear-stick position is valid, and
• a control module, configured to control, in case that the first actual gear-stick position and the second actual gear-stick position are inconsistent, or the first acceptable gear-stick position is invalid, a vehicle to enter a safe state.

A non-temporary machine-readable storage medium, storing a program, wherein the program, when being executed, causes the following operations to be performed, that comprise:

• acquiring a first actual gear-stick position and a first acceptable gear-stick position calculated by a functional layer;
• calculating a second actual gear-stick position according to a gear-stick position signal;
• determining whether the first actual gear-stick position and the second actual gear-stick position are consistent;
• determining whether the first acceptable gear-stick position is valid in case that the first actual gear-stick position and the second actual gear-stick position are consistent;
• and
• controlling a vehicle to enter a safe state in case that the first actual gear-stick position and the second actual gear-stick position are inconsistent, or the first acceptable gear-stick position is invalid.