The acceleration threshold determines the recovery of the vehicle speed. If the set threshold is too large, the wheels may not reach this threshold. In this case, there may be a runaway situation where the vehicle speed has been recovering. If the set threshold is too small, the wheels will not fully recover and enter the next cycle. This produces a gradual dying trend. Therefore, in the actual setting, it is necessary to comprehensively consider the influence of various factors, and conduct a large number of tests according to different vehicle types and road conditions to determine the selected acceleration and deceleration thresholds.