Tire loosening threshold self-learning method and device, vehicle, equipment and medium

The invention provides a tire loosening threshold self-learning method and device, a vehicle, equipment and a medium. After the vehicle is powered on, a sensor signal of the vehicle is obtained; the sensor signal comprises a vehicle speed signal and a tire characteristic signal; according to the vehicle speed signals and the tire characteristic signals, standard characteristic values of the tires corresponding to different vehicle speed intervals are determined; the standard characteristic value is a threshold value used for judging whether the tire is loosened or not, that is, the loosening threshold value of the vehicle does not need to be calibrated in advance, self-learning determination is carried out on the basis of the vehicle speed and the tire characteristic signal collected by a sensor in real time after the vehicle is powered on, and the tire is loosened if the state of the vehicle changes along with running of the vehicle. Based on sensor data collected in real time, a new standard characteristic