Method and device for determining virtual kingpin axis of double wishbone suspension

Abstract

The present invention provides a method and device for determining a virtual kingpin axis of a double wishbone suspension, and relates to the technical field of automobile suspension. The method comprises: first determining an upper control arm reference line corresponding to an upper control arm and a lower control arm reference line corresponding to a lower control arm; then using a preset offset constraint rule, analyzing the upper control arm reference line to obtain a quasi-virtual kingpin axis set, and in the quasi-virtual kingpin axis set, determining a straight line intersecting with the lower control arm reference line as a target virtual kingpin axis; wherein the quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, and each quasi-virtual kingpin axis intersects with the upper control arm reference line. The method alleviates the problems of complex calculation and low efficiency in the method for determining a virtual kingpin axis for a double wishbone suspension with split upper and lower control arms, and achieves the effect of conveniently and quickly determining a virtual kingpin axis.

Description

Technical Field

[0001] The invention relates to the technical field of automobile suspension, and in particular to a method and device for determining a virtual kingpin axis of a double wishbone suspension. Background Art

[0002] As a force transmission device connecting the frame (or body) and the axle (or wheel), the automobile suspension is an important component to ensure the driving safety and riding comfort of the automobile. With the development and application of automobile technology, in order to pursue better performance, the double wishbone suspension with split upper and lower control arms has gradually been widely used.

[0003] The double wishbone suspension with split upper and lower control arms is composed of two control arms and a sliding column. One end of the upper control arm is connected to the mounting bracket and the other end is connected to the steering knuckle; one end of the lower control arm is connected to the subframe and the other end is connected to the steering knuckle. The upper and lower control arms are also connected by a sliding column assembly. In the entire suspension structure, the integrity of the upper and lower control arms and the entire suspension is improved by connecting multiple fulcrums.

[0004] At present, for this double wishbone suspension structure with separate upper and lower control arms, the kingpin axis cannot be directly obtained by taking the intersection of the lines because the inner and outer points of the upper and lower control arms are not coplanar. Usually, the ADAMS / CAR module is used to establish a suspension kinematic model, or the instantaneous screw axis method is used to establish a mathematical model, and then the model is simulated and calculated to determine the virtual kingpin axis, which has the problems of complex calculation method and low efficiency. Summary of the invention

[0005] The object of the present invention is to provide a method and device for determining a virtual kingpin axis of a double wishbone suspension, so as to alleviate the technical problems of complex calculation and low efficiency existing in the prior art.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, an embodiment of the present invention provides a method for determining a virtual kingpin axis of a double wishbone suspension, which is applied to the double wishbone suspension, wherein the double wishbone suspension comprises: an upper control arm and a lower control arm, wherein the upper control arm and the lower control arm are connected via a sliding column, and the method comprises:

[0008] Determine an upper control arm reference line corresponding to the direction where the upper control arm is located and a lower control arm reference line corresponding to the direction where the lower control arm is located;

[0009] The upper control arm baseline is analyzed by using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set, and in the quasi-virtual kingpin axis set, a straight line intersecting with the lower control arm baseline is determined as the target virtual kingpin axis; the quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, each of which intersects with the upper control arm baseline.

[0010] In some possible embodiments, the upper control arm includes an upper front control arm and an upper rear control arm; the inner ends of the upper front control arm and the upper rear control arm are respectively connected to the mounting bracket, and the outer ends of the upper front control arm and the upper rear control arm are respectively connected to the steering knuckle; the determination of the upper control arm reference line corresponding to the direction of the upper control arm and the lower control arm reference line corresponding to the direction of the lower control arm includes: determining the upper front control arm reference line corresponding to the direction of the upper front control arm according to the line connecting the inner end of the upper front control arm and the outer end of the upper front control arm; determining the upper rear control arm reference line corresponding to the direction of the upper rear control arm according to the line connecting the inner end of the upper rear control arm and the outer end of the upper rear control arm.

[0011] In some possible embodiments, the lower control arm includes a lower front control arm and a lower rear control arm; the inner ends of the lower front control arm and the lower rear control arm are respectively connected to the subframe, and the outer ends of the lower front control arm and the lower rear control arm are respectively connected to the steering knuckle; the determination of the upper control arm reference line corresponding to the direction of the upper control arm and the lower control arm reference line corresponding to the direction of the lower control arm also includes: determining the lower front control arm reference line corresponding to the direction of the lower front control arm according to the line connecting the inner end of the lower front control arm and the outer end of the lower front control arm; determining the lower rear control arm reference line corresponding to the direction of the lower rear control arm according to the line connecting the inner end of the lower rear control arm and the outer end of the lower rear control arm.

[0012] In some possible implementations, the preset offset constraint rule is used to analyze the upper control arm baseline to obtain a quasi-virtual kingpin axis set, including: determining a first quasi-virtual kingpin axis set based on the upper rear control arm baseline; the first quasi-virtual kingpin axis set includes a plurality of first quasi-virtual kingpin axes, and each first quasi-virtual kingpin axis intersects with the upper rear control arm baseline.

[0013] In some possible embodiments, after determining the first quasi-virtual kingpin axis set according to the upper rear control arm baseline, the method further includes: determining the second quasi-virtual kingpin axis set in the first quasi-virtual kingpin axis set according to the upper front control arm baseline; the second quasi-virtual kingpin axis set includes a plurality of second quasi-virtual kingpin axes, each of which intersects with the upper front control arm baseline.

[0014] In some possible embodiments, after determining the second quasi-virtual kingpin axis set in the first quasi-virtual kingpin axis set according to the upper front control arm baseline, the method further includes: determining a third quasi-virtual kingpin axis set in the second quasi-virtual kingpin axis set according to the lower front control arm baseline; the third quasi-virtual kingpin axis set includes a plurality of third quasi-virtual kingpin axes, each of which intersects with the lower front control arm baseline; in the third quasi-virtual kingpin axis set, a straight line intersecting with the lower rear control arm baseline is determined as the target virtual kingpin axis.

[0015] In a second aspect, an embodiment of the present invention provides a device for determining a virtual kingpin axis of a double wishbone suspension, the device comprising:

[0016] A reference line determination module, used to determine an upper control arm reference line corresponding to a direction where the upper control arm is located and a lower control arm reference line corresponding to a direction where the lower control arm is located;

[0017] The target virtual kingpin axis set determination module is used to analyze the above-mentioned upper control arm baseline using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set, and in the above-mentioned quasi-virtual kingpin axis set, determine the straight line intersecting with the above-mentioned lower control arm baseline as the target virtual kingpin axis; the above-mentioned quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, each of which intersects with the above-mentioned upper control arm baseline.

[0018] In some possible embodiments, the upper control arm includes an upper front control arm and an upper rear control arm; the inner ends of the upper front control arm and the upper rear control arm are respectively connected to the mounting bracket, and the outer ends of the upper front control arm and the upper rear control arm are respectively connected to the steering knuckle; the baseline determination module is also used to: determine the upper front control arm baseline corresponding to the direction of the upper front control arm according to the line connecting the inner end of the upper front control arm and the outer end of the upper front control arm; determine the upper rear control arm baseline corresponding to the direction of the upper rear control arm according to the line connecting the inner end of the upper rear control arm and the outer end of the upper rear control arm.

[0019] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the steps of any one of the methods of the first aspect when executing the computer program.

[0020] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores machine-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to execute any method described in the first aspect above.

[0021] The present invention provides a method and device for determining a virtual kingpin axis of a double wishbone suspension, the method comprising: first determining an upper control arm reference line corresponding to an upper control arm and a lower control arm reference line corresponding to a lower control arm; then using a preset offset constraint rule, analyzing the upper control arm reference line to obtain a quasi-virtual kingpin axis set, and in the quasi-virtual kingpin axis set, determining a straight line intersecting with the lower control arm reference line as a target virtual kingpin axis; wherein the quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, each of which intersects with the upper control arm reference line. The method alleviates the problems of complex calculation and low efficiency in the method for determining a virtual kingpin axis for a double wishbone suspension with split upper and lower control arms, and achieves the effect of conveniently and quickly determining a virtual kingpin axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of the structure of a double wishbone suspension provided by an embodiment of the present invention;

[0024] Figure 2 A schematic flow chart of a method for determining a virtual kingpin axis of a double wishbone suspension provided by an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the principle of a method for determining a virtual kingpin axis of a double wishbone suspension provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Some embodiments of the present invention are described in detail below in conjunction with the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0030] The double wishbone suspension with split upper and lower control arms is composed of two control arms and a sliding column. One end of the upper control arm is connected to the mounting bracket, and the other end is connected to the steering knuckle; one end of the lower control arm is connected to the subframe, and the other end is connected to the steering knuckle. The upper and lower control arms are also connected by a sliding column assembly. In the entire suspension structure, the integrity of the upper and lower control arms and the entire suspension is improved by connecting multiple fulcrums. At present, for this double wishbone suspension structure with split upper and lower control arms, since the lines connecting the inner and outer points of the upper and lower control arms are not coplanar, the kingpin line cannot be directly obtained by taking the intersection of the lines. Usually, the ADAMS / CAR module is used to establish the suspension kinematic model, or the instantaneous screw shaft method is used to establish the mathematical model, and then the model is simulated and calculated to determine the virtual kingpin axis line, which has the problems of complex calculation method and low efficiency.

[0031] Based on this, an embodiment of the present invention provides a method and device for determining a virtual kingpin axis of a double wishbone suspension, so as to alleviate the problems of complex calculation and low efficiency in the method for determining a virtual kingpin axis for a double wishbone suspension with separate upper and lower control arms. The method for determining a virtual kingpin axis of a double wishbone suspension is applied to a double wishbone suspension of an automobile.

[0032] See also Figure 1 A schematic diagram of a double wishbone suspension structure is shown, the double wishbone suspension comprises: an upper control arm (110 and 120) and a lower control arm (210 and 220), the upper control arm and the lower control arm are connected by a sliding column 300. One end of the upper control arm is used to connect to the mounting bracket (end A), and the other end (end B) is connected to the steering knuckle of the vehicle through a head pin; one end (end C) of the lower control arm is used to connect to the subframe, and the other end (end D) is also connected to the steering knuckle through a head pin. The function of the steering knuckle is to transmit and bear the load on the front of the vehicle, support and drive the front wheel to rotate around the kingpin to steer the vehicle.

[0033] To facilitate understanding of this embodiment, a method for determining a virtual kingpin axis of a double wishbone suspension disclosed in an embodiment of the present invention is first described in detail. Figure 2 The flowchart of a method for determining a virtual kingpin axis of a double wishbone suspension is shown. The method can be executed by an electronic device and mainly includes the following steps S110 to S120:

[0034] S110: Determine an upper control arm reference line corresponding to the direction where the upper control arm is located and a lower control arm reference line corresponding to the direction where the lower control arm is located;

[0035] The direction of the upper control arm may be the direction of a straight line formed by connecting two end points of the upper control arm; the direction of the lower control arm may be the direction of a straight line formed by connecting two end points of the lower control arm. The upper control arm reference line may be a straight line formed by connecting two end points of the upper control arm; the lower control arm reference line may be a straight line formed by connecting two end points of the lower control arm.

[0036] In one embodiment, the upper control arm includes an upper front control arm 120 and an upper rear control arm 110; the inner ends of the upper front control arm 120 and the upper rear control arm 110 ( Figure 1 The A end shown in the figure is connected to the mounting bracket respectively, and the outer ends of the upper front control arm 120 and the upper rear control arm 110 ( Figure 1 The B ends shown) are connected to the steering knuckles respectively.

[0037] Correspondingly, the lower control arm includes a lower front control arm 220 and a lower rear control arm 210; the inner ends ( Figure 1 The C end shown in the figure) is connected to the subframe respectively, and the outer ends of the lower front control arm 220 and the lower rear control arm 210 ( Figure 1 The D ends shown) are connected to the steering knuckles respectively.

[0038] Generally, in the actual structure of the upper and lower split double wishbones, the above-mentioned control arms are all control arm assemblies. For example, the upper front control arm 120 can be an assembly of the upper front arm, the ball pin at the outer end of the upper front arm, and the connecting structure at the inner end of the upper front arm; the upper rear control arm 110 can be an assembly of the upper rear arm, the ball pin at the outer end of the upper rear arm, and the connecting structure at the inner end of the upper rear arm; the sliding column 300 can be an assembly of the columnar structure at the upper end and the nested structure at the lower end, and the nested structure at the lower end is fixedly connected to the lower front control arm 220.

[0039] S120: Analyze the upper control arm reference line using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set, and determine, in the quasi-virtual kingpin axis set, a straight line intersecting the lower control arm reference line as a target virtual kingpin axis.

[0040] The quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, and each quasi-virtual kingpin axis intersects with the upper control arm reference line.

[0041] As a specific example, the preset offset constraint rule can be implemented through the offset constraint command of CATIA software.

[0042] In one embodiment, the process of analyzing the upper control arm reference line using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set may include:

[0043] (1) First, use the software's offset constraint command to generate several straight lines that intersect and do not overlap with the upper control arm reference line as a quasi-virtual kingpin axis set;

[0044] (2) In the quasi-virtual kingpin axis set, determine the straight line that intersects with the lower control arm reference line, which is the target virtual kingpin axis.

[0045] In another embodiment, the process of analyzing the upper control arm reference line by using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set may include:

[0046] (1) First, use the software's offset constraint command to generate several straight lines that intersect and do not overlap with the upper control arm baseline;

[0047] (2) Then, among a plurality of straight lines intersecting and not coinciding with the upper control arm reference line, a plurality of vertical lines parallel to the direction of the columnar structure at the upper end of the sliding strut are determined as a quasi-virtual kingpin axis set;

[0048] (3) In the quasi-virtual kingpin axis set, determine the straight line that intersects with the lower control arm reference line, which is the target virtual kingpin axis.

[0049] In another embodiment, the process of analyzing the upper control arm reference line by using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set may include:

[0050] (1) First, use the offset constraint command of the software to generate several vertical lines parallel to the direction of the columnar structure at the upper end of the sliding column;

[0051] (2) Then, the positional relationship between each vertical line and the upper control arm reference line is analyzed, and a set of all vertical lines intersecting the upper control arm reference line is taken as a quasi-virtual kingpin axis set;

[0052] (3) In the quasi-virtual kingpin axis set, determine the straight line that intersects with the lower control arm reference line, which is the target virtual kingpin axis.

[0053] In one embodiment, the upper control arm includes an upper front control arm 120 and an upper rear control arm 110, and the lower control arm includes a lower front control arm 220 and a lower rear control arm 210. Accordingly, the step of determining an upper control arm reference line corresponding to the direction where the upper control arm is located and a lower control arm reference line corresponding to the direction where the lower control arm is located may include:

[0054] S201: determining an upper front control arm reference line corresponding to a direction of the upper front control arm according to a line connecting an inner end of the upper front control arm and an outer end of the upper front control arm;

[0055] S202: Determine an upper rear control arm reference line corresponding to the direction of the upper rear control arm according to a line connecting the inner end of the upper rear control arm and the outer end of the upper rear control arm.

[0056] S203: determining a lower front control arm reference line corresponding to the direction of the lower front control arm according to a line connecting the inner end of the lower front control arm and the outer end of the lower front control arm;

[0057] S204: Determine a lower rear control arm reference line corresponding to the direction of the lower rear control arm according to a line connecting the inner end of the lower rear control arm and the outer end of the lower rear control arm.

[0058] Further, in one embodiment, the step of analyzing the upper control arm reference line by using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set may include:

[0059] S301: Determine a first quasi-virtual kingpin axis set according to the upper rear control arm reference line; the first quasi-virtual kingpin axis set includes a plurality of first quasi-virtual kingpin axes, each of which intersects with the upper rear control arm reference line.

[0060] S302: According to the upper front control arm reference line, determine a second quasi-virtual kingpin axis set in the first quasi-virtual kingpin axis set; the second quasi-virtual kingpin axis set includes a plurality of second quasi-virtual kingpin axes, each of which intersects with the upper front control arm reference line.

[0061] S303: Determine a third quasi-virtual kingpin axis set in the second quasi-virtual kingpin axis set according to the lower front control arm reference line; the third quasi-virtual kingpin axis set includes a plurality of third quasi-virtual kingpin axes, each of which intersects with the lower front control arm reference line.

[0062] Finally, in the third quasi-virtual kingpin axis set, a straight line intersecting the lower rear control arm reference line is determined as the final target virtual kingpin axis.

[0063] As a specific example, in a double wishbone suspension structure where both upper and lower control arms are split, the method for determining the virtual kingpin axis may include: Figure 3First, four reference lines can be determined: a straight line 111 formed by a line connecting the inner and outer ends of the upper rear control arm assembly, a straight line 121 formed by a line connecting the inner and outer ends of the upper front control arm assembly, a straight line 221 formed by a line connecting the inner and outer ends of the lower front control arm assembly, and a straight line 211 formed by a line connecting the inner and outer ends of the lower rear control arm assembly.

[0064] Since it is impossible to directly determine the virtual kingpin axis by intersecting the straight lines 111, 121, 221, and 211 in pairs, the embodiment of the present application uses CATIA software to assemble any vertical line in contact with the straight lines 111, 121, 221, and 211 respectively (that is, use the software's medium offset constraint command to operate on the four straight lines respectively), and the straight line at the final assembly position is the target virtual kingpin line 100.

[0065] On the other hand, an embodiment of the present application further provides a device for determining a virtual kingpin axis of a double wishbone suspension, the device comprising:

[0066] A reference line determination module, used to determine an upper control arm reference line corresponding to a direction where the upper control arm is located and a lower control arm reference line corresponding to a direction where the lower control arm is located;

[0067] The target virtual kingpin axis set determination module is used to analyze the upper control arm baseline using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set, and in the quasi-virtual kingpin axis set, determine the straight line intersecting the lower control arm baseline as the target virtual kingpin axis; the quasi-virtual kingpin axis set includes several quasi-virtual kingpin axes, each of which intersects the upper control arm baseline.

[0068] In one embodiment, the upper control arm includes an upper front control arm and an upper rear control arm; the inner ends of the upper front control arm and the upper rear control arm are respectively connected to the mounting bracket, and the outer ends of the upper front control arm and the upper rear control arm are respectively connected to the steering knuckle;

[0069] The baseline determination module is also used to: determine the upper front control arm baseline corresponding to the direction of the upper front control arm based on the line connecting the inner end of the upper front control arm and the outer end of the upper front control arm; determine the upper rear control arm baseline corresponding to the direction of the upper rear control arm based on the line connecting the inner end of the upper rear control arm and the outer end of the upper rear control arm.

[0070] The present invention provides a method and device for determining a virtual kingpin axis of a double wishbone suspension, the method comprising: first determining an upper control arm reference line corresponding to an upper control arm and a lower control arm reference line corresponding to a lower control arm; then using a preset offset constraint rule, analyzing the upper control arm reference line to obtain a quasi-virtual kingpin axis set, and in the quasi-virtual kingpin axis set, determining a straight line intersecting with the lower control arm reference line as a target virtual kingpin axis; wherein the quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, each of which intersects with the upper control arm reference line. The method alleviates the problems of complex calculation and low efficiency in the method for determining a virtual kingpin axis for a double wishbone suspension with split upper and lower control arms, and achieves the effect of conveniently and quickly determining a virtual kingpin axis.

[0071] An embodiment of the present application further provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0072] Figure 4 A structural schematic diagram of an electronic device provided in an embodiment of the present application, the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected via the bus 42; the processor 40 is used to execute an executable module stored in the memory 41, such as a computer program.

[0073] The memory 41 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0074] The bus 42 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0075] Among them, the memory 41 is used to store programs, and the processor 40 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 40 or implemented by the processor 40.

[0076] The processor 40 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 40. The above processor 40 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to execute, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 41, and the processor 40 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0077] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0078] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0080] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0081] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0082] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0083] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining a virtual kingpin axis of a double wishbone suspension, applied to the double wishbone suspension, the double wishbone suspension comprising: An upper control arm and a lower control arm, wherein the upper control arm and the lower control arm are connected via a sliding column, wherein the method comprises: Determine an upper control arm reference line corresponding to the direction where the upper control arm is located and a lower control arm reference line corresponding to the direction where the lower control arm is located; The upper control arm reference line is analyzed by using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set, and in the quasi-virtual kingpin axis set, a straight line intersecting with the lower control arm reference line is determined as a target virtual kingpin axis; the quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, each of which intersects with the upper control arm reference line; The upper control arm comprises an upper front control arm and an upper rear control arm; the inner ends of the upper front control arm and the upper rear control arm are respectively connected to the mounting support, and the outer ends of the upper front control arm and the upper rear control arm are respectively connected to the steering knuckle; The determining of an upper control arm reference line corresponding to the direction where the upper control arm is located and a lower control arm reference line corresponding to the direction where the lower control arm is located comprises: Determine an upper front control arm reference line corresponding to the direction of the upper front control arm according to a line connecting the inner end of the upper front control arm and the outer end of the upper front control arm; Determine an upper rear control arm reference line corresponding to the direction where the upper rear control arm is located according to a line connecting the inner end of the upper rear control arm and the outer end of the upper rear control arm; The lower control arm comprises a lower front control arm and a lower rear control arm; the inner ends of the lower front control arm and the lower rear control arm are respectively connected to the subframe, and the outer ends of the lower front control arm and the lower rear control arm are respectively connected to the steering knuckle; The determining of the upper control arm reference line corresponding to the direction where the upper control arm is located and the lower control arm reference line corresponding to the direction where the lower control arm is located further includes: Determine a lower front control arm reference line corresponding to the direction of the lower front control arm according to a line connecting the inner end of the lower front control arm and the outer end of the lower front control arm; Determine a lower rear control arm reference line corresponding to the direction of the lower rear control arm according to a line connecting the inner end of the lower rear control arm and the outer end of the lower rear control arm; The method of adopting a preset offset constraint rule to analyze the upper control arm reference line to obtain a quasi-virtual kingpin axis set includes: Determining a first quasi-virtual kingpin axis set according to the upper rear control arm reference line; the first quasi-virtual kingpin axis set includes a plurality of first quasi-virtual kingpin axes, each of which intersects with the upper rear control arm reference line; After determining a first quasi-virtual kingpin axis set according to the upper rear control arm reference line, the method further includes: According to the upper front control arm reference line, a second quasi-virtual kingpin axis set is determined in the first quasi-virtual kingpin axis set; the second quasi-virtual kingpin axis set includes a plurality of second quasi-virtual kingpin axes, each of which intersects with the upper front control arm reference line; After determining a second quasi-virtual kingpin axis set in the first quasi-virtual kingpin axis set according to the upper front control arm reference line, the method further includes: According to the lower front control arm reference line, a third quasi-virtual kingpin axis set is determined in the second quasi-virtual kingpin axis set; the third quasi-virtual kingpin axis set includes a plurality of third quasi-virtual kingpin axes, each of which intersects with the lower front control arm reference line; In the third quasi-virtual kingpin axis set, a straight line intersecting the lower rear control arm reference line is determined as a target virtual kingpin axis.

2. A device for determining a virtual kingpin axis of a double wishbone suspension, characterized in that: The device comprises: A reference line determination module, used to determine an upper control arm reference line corresponding to a direction where the upper control arm is located and a lower control arm reference line corresponding to a direction where the lower control arm is located; a target virtual kingpin axis set determination module, for analyzing the upper control arm reference line by using a preset offset constraint rule to obtain a quasi-virtual kingpin axis set, and determining, in the quasi-virtual kingpin axis set, a straight line intersecting with the lower control arm reference line as a target virtual kingpin axis; the quasi-virtual kingpin axis set includes a plurality of quasi-virtual kingpin axes, each of which intersects with the upper control arm reference line; The upper control arm comprises an upper front control arm and an upper rear control arm; the inner ends of the upper front control arm and the upper rear control arm are respectively connected to the mounting support, and the outer ends of the upper front control arm and the upper rear control arm are respectively connected to the steering knuckle; The reference line determination module is further used to: determine the upper front control arm reference line corresponding to the direction where the upper front control arm is located according to the line connecting the inner end of the upper front control arm and the outer end of the upper front control arm; determine the upper rear control arm reference line corresponding to the direction where the upper rear control arm is located according to the line connecting the inner end of the upper rear control arm and the outer end of the upper rear control arm; The lower control arm comprises a lower front control arm and a lower rear control arm; the inner ends of the lower front control arm and the lower rear control arm are respectively connected to the subframe, and the outer ends of the lower front control arm and the lower rear control arm are respectively connected to the steering knuckle; The reference line determination module is further used to: determine the lower front control arm reference line corresponding to the direction where the lower front control arm is located according to the line connecting the inner end of the lower front control arm and the outer end of the lower front control arm; determine the lower rear control arm reference line corresponding to the direction where the lower rear control arm is located according to the line connecting the inner end of the lower rear control arm and the outer end of the lower rear control arm; The method adopts a preset offset constraint rule to analyze the upper control arm reference line to obtain a quasi-virtual kingpin axis set, including: determining a first quasi-virtual kingpin axis set according to the upper rear control arm reference line; the first quasi-virtual kingpin axis set includes a plurality of first quasi-virtual kingpin axes, each of which intersects with the upper rear control arm reference line; After determining the first quasi-virtual kingpin axis set according to the upper rear control arm reference line, the method further includes: determining a second quasi-virtual kingpin axis set in the first quasi-virtual kingpin axis set according to the upper front control arm reference line; the second quasi-virtual kingpin axis set includes a plurality of second quasi-virtual kingpin axes, each of which intersects with the upper front control arm reference line; After determining the second quasi-virtual kingpin axis set in the first quasi-virtual kingpin axis set according to the upper front control arm baseline, it also includes: determining a third quasi-virtual kingpin axis set in the second quasi-virtual kingpin axis set according to the lower front control arm baseline; the third quasi-virtual kingpin axis set includes a plurality of third quasi-virtual kingpin axes, each of which intersects with the lower front control arm baseline; in the third quasi-virtual kingpin axis set, a straight line intersecting with the lower rear control arm baseline is determined as the target virtual kingpin axis.

3. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to claim 1 are implemented.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores machine-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to execute the method of claim 1 .

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