A monitoring method for determination of a gear-stick position, comprising: acquiring a first actual gear-stick position and a first acceptable gear-stick position calculated by a functional layer of a vehicle controller, wherein the actual gear-stick position referred to means a target gear-stick position shifted from the current gear-stick position by a driver, the term acceptable gear-stick position referred to means a next acceptable gear-stick position that, under the condition of ensuring vehicle safety, can be shifted from the currently executing acceptable gear-stick position, calculated according to the vehicle state, speed, and actual gear-stick position; 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 characterized in that said controlling a vehicle to enter a safe state comprising: determining whether a current speed of the vehicle is greater than a first threshold; controlling the vehicle to remain driving at the acceptable gear-stick position currently being executed, and setting a limit torque for the acceptable gear-stick position currently being executed in case that the current speed is greater than the first threshold; and controlling the vehicle to travel in a neutral gear in case that the current speed is smaller than or equal to the first threshold. acquiring a first actual gear-stick position and a first acceptable gear-stick position calculated by a functional layer of a vehicle controller, wherein the actual gear-stick position referred to means a target gear-stick position shifted from the current gear-stick position by a driver, the term acceptable gear-stick position referred to means a next acceptable gear-stick position that, under the condition of ensuring vehicle safety, can be shifted from the currently executing acceptable gear-stick position, calculated according to the vehicle state, speed, and actual gear-stick position; 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 characterized in that said controlling a vehicle to enter a safe state comprising: determining whether a current speed of the vehicle is greater than a first threshold; controlling the vehicle to remain driving at the acceptable gear-stick position currently being executed, and setting a limit torque for the acceptable gear-stick position currently being executed in case that the current speed is greater than the first threshold; and controlling the vehicle to travel in a neutral gear in case that the current speed is smaller than or equal to the first threshold. determining whether a current speed of the vehicle is greater than a first threshold; controlling the vehicle to remain driving at the acceptable gear-stick position currently being executed, and setting a limit torque for the acceptable gear-stick position currently being executed in case that the current speed is greater than the first threshold; and controlling the vehicle to travel in a neutral gear in case that the current speed is smaller than or equal to the first threshold.