A method for controlling a self-balanced vehicle, characterized in comprising: acquiring , by a sensor, a first state of a parameter input from a user through a pedal of the self-balanced vehicle; and when the first state indicates that a change has occurred in the parameter, controlling , by a controller, operation of the self-balanced vehicle according to the change, wherein the parameter comprises at least one of: a pressure parameter, and a contact area parameter between a foot of the user and the pedal of the self-balanced vehicle, characterized in that the parameter comprises the contact area parameter, the method further comprises: acquiring a second state of a pressure parameter, the acquiring a first state of a parameter input from a user through a pedal of the self-balanced vehicle comprises: when the second state indicates that the pressure parameter is changed, acquiring a first state of the contact area parameter. wherein when the first state indicates that the parameter is changed and a change value of the parameter is larger than a threshold value, controlling the operation of the self-balanced vehicle according to the change, wherein controlling the operation of the self-balanced vehicle according to the change, comprises at least one of: when a decreasing value of the parameter is larger than a first threshold value, controlling the self-balanced vehicle to slow down according to the decreasing value; and when an increasing value of the parameter is larger than a second threshold value, controlling the self-balanced vehicle to speed up according to the increasing value. acquiring , by a sensor, a first state of a parameter input from a user through a pedal of the self-balanced vehicle; and when the first state indicates that a change has occurred in the parameter, controlling , by a controller, operation of the self-balanced vehicle according to the change, wherein the parameter comprises at least one of: a pressure parameter, and a contact area parameter between a foot of the user and the pedal of the self-balanced vehicle, characterized in that the parameter comprises the contact area parameter, the method further comprises: acquiring a second state of a pressure parameter, the acquiring a first state of a parameter input from a user through a pedal of the self-balanced vehicle comprises: when the second state indicates that the pressure parameter is changed, acquiring a first state of the contact area parameter. wherein when the first state indicates that the parameter is changed and a change value of the parameter is larger than a threshold value, controlling the operation of the self-balanced vehicle according to the change, wherein controlling the operation of the self-balanced vehicle according to the change, comprises at least one of: when a decreasing value of the parameter is larger than a first threshold value, controlling the self-balanced vehicle to slow down according to the decreasing value; and when an increasing value of the parameter is larger than a second threshold value, controlling the self-balanced vehicle to speed up according to the increasing value. when a decreasing value of the parameter is larger than a first threshold value, controlling the self-balanced vehicle to slow down according to the decreasing value; and when an increasing value of the parameter is larger than a second threshold value, controlling the self-balanced vehicle to speed up according to the increasing value. <EOS>