Method and device for measuring wheel center displacement of non-independent suspension, and vehicle

Abstract

The present invention discloses a method and device for measuring the wheel center displacement of a non-independent suspension, and a vehicle. The method includes: controlling the left and right wheels of the vehicle to move in the same direction from a set position at a preset step length; and obtaining the left-wheel forward calibration parameter and the right-wheel forward calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge readings; controlling the left and right wheels of the vehicle to move in opposite directions from the corresponding set positions at a preset step length; and obtaining the left-wheel rebound coefficient and the right-wheel rebound coefficient according to all the wheel center displacements and the corresponding spring strain gauge readings; determining the wheel center displacement according to the left-wheel forward calibration parameter, the right-wheel forward calibration parameter, the left-wheel rebound coefficient, the right-wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension. Thus, the method effectively eliminates the influence of the change in the suspension leverage ratio during the reverse bounce of the suspension on the test result, realizes a significant improvement in measurement accuracy, and has low cost, fast response, and wide application range.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method for measuring the wheel center displacement in the Z direction of a non-independent suspension, a computer-readable storage medium, a device for measuring the wheel center displacement in the Z direction of a non-independent suspension, and a vehicle. Background Art

[0002] During road tests, the accurate measurement of the wheel center displacement in the Z direction is of great significance for the design verification of the suspension system, the verification of the tire envelope layout, the verification of the suspension layout, and the acquisition of vehicle road spectra. There are two types of existing methods for measuring the wheel center displacement in the Z direction: ① Strain gauges are pasted on the spring to form a Wheatstone full bridge, and then the wheel is loaded in the same direction to obtain the spring-displacement relationship curve. The working strain of the helical spring obtained on the test road is calculated through the spring-displacement relationship curve to obtain the Z coordinate of the wheel center, and the wheel center displacement in the Z direction is obtained; ② Methods such as wire-pulling sensors are used to install sensors on the edge of the tire to measure the Z-direction displacement of the tire to obtain the wheel center displacement in the Z direction.

[0003] The left and right wheels of an independent suspension move independently of each other and do not affect each other. The above methods can all obtain accurate wheel center displacement in the Z direction. However, the inclination angles of the left and right wheels of a non-independent suspension during the reverse bounce process will have a great impact on the measurement result of the wheel center displacement in the Z direction, resulting in a large difference between the actual measurement result and the actual value, poor measurement accuracy, and limiting the feasibility of the precise design of the suspension system. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this reason, the first object of the present invention is to propose a method for measuring the wheel center displacement in the Z direction of a non-independent suspension, which effectively eliminates the influence of the change in the suspension leverage ratio during the reverse bounce of the suspension on the test result, realizes a large improvement in measurement accuracy, and has low cost, fast response, and wide application range.

[0005] The second object of the present invention is to propose a computer-readable storage medium.

[0006] The third object of the present invention is to propose a device for measuring the wheel center displacement in the Z direction of a non-independent suspension.

[0007] The fourth object of the present invention is to propose a vehicle.

[0008] To achieve the above object, an embodiment of the first aspect of the present invention provides a method for measuring the wheel center displacement of a non-independent suspension, including: controlling the left and right wheels of the vehicle to move in the same direction from a set position at a preset step length; respectively obtaining the wheel center displacement and the corresponding spring strain gauge readings each time the left and right wheels move in the same direction, and obtaining the left wheel forward calibration parameter and the right wheel forward calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge readings; controlling the left and right wheels of the vehicle to move in opposite directions from the corresponding set positions at a preset step length; respectively obtaining the spring strain gauge readings corresponding to the wheel center displacement each time the left and right wheels move in opposite directions, and obtaining the left wheel rebound coefficient and the right wheel rebound coefficient according to all the wheel center displacements and the corresponding spring strain gauge readings; determining the wheel center displacement according to the left wheel forward calibration parameter, the right wheel forward calibration parameter, the left wheel rebound coefficient, the right wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension.

[0009] According to the method for measuring the wheel center displacement of a non-independent suspension according to the embodiment of the present invention, first, control the left and right wheels of the vehicle to move in the same direction from a set position at a preset step length, respectively obtain the wheel center displacement and the corresponding spring strain gauge readings each time the left and right wheels move in the same direction, and obtain the left wheel forward calibration parameter and the right wheel forward calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge readings. Then, control the left and right wheels of the vehicle to move in opposite directions from the corresponding set positions at a preset step length, respectively obtain the spring strain gauge readings corresponding to the wheel center displacement each time the left and right wheels move in opposite directions, and obtain the left wheel rebound coefficient and the right wheel rebound coefficient according to all the wheel center displacements and the corresponding spring strain gauge readings. Finally, determine the wheel center displacement according to the left wheel forward calibration parameter, the right wheel forward calibration parameter, the left wheel rebound coefficient, the right wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension. Thus, this method effectively eliminates the influence of the change in the suspension leverage ratio during the reverse bounce of the suspension on the test results, realizes a large improvement in measurement accuracy, and has low cost, fast response, and wide application range.

[0010] In addition, according to the method for measuring the wheel center displacement of a non-independent suspension according to the above embodiment of the present invention, the following additional technical features may also be included:

[0011] According to an embodiment of the present invention, the left wheel forward calibration parameter and the right wheel forward calibration parameter are obtained through the following formula:

[0012]

[0013]

[0014] Wherein, K L represents the left wheel forward calibration parameter, S LiDenotes the set of spring strain gauge readings corresponding to the displacements of all left wheel centers when the left and right wheels move in the same direction, W Li Denotes the set of displacements of all left wheel centers when the left and right wheels move in the same direction, K R Denotes the right wheel co-directional calibration parameter, S Ri Denotes the set of spring strain gauge readings corresponding to the displacements of all right wheel centers when the left and right wheels move in the same direction, W Ri Denotes the set of displacements of all right wheel centers when the left and right wheels move in the same direction, i = 1, 2, …, n, where n represents the number of movements.

[0015] According to an embodiment of the present invention, the left wheel rebound coefficient and the right wheel rebound coefficient are obtained through the following formula:

[0016]

[0017]

[0018] where η L Denotes the left wheel rebound coefficient, W Li ′ denotes the displacement of the left wheel center when the left and right wheels move towards each other, K L Denotes the left wheel co-directional calibration parameter, S Li ′ denotes the spring strain gauge reading corresponding to the displacement of the left wheel center when the left and right wheels move towards each other, η R Denotes the right wheel rebound coefficient, W Ri ′ denotes the displacement of the right wheel center when the left and right wheels move towards each other, K R Denotes the right wheel co-directional calibration parameter, S Ri ′ denotes the spring strain gauge reading corresponding to the displacement of the right wheel center when the left and right wheels move towards each other, i = 1, 2, …, n, where n represents the number of movements.

[0019] According to an embodiment of the present invention, the wheel center displacement includes the left wheel center displacement and the right wheel center displacement, and the left wheel center displacement and the right wheel center displacement are obtained through the following formula:

[0020]

[0021]

[0022] where H L Denotes the left wheel center displacement, K L Denotes the left wheel co-directional calibration parameter, HS L Denotes the strain of the left spring on the non-independent suspension, K R Denotes the right wheel co-directional calibration parameter, HS R Denotes the strain of the right spring on the non-independent suspension, η L Denotes the left wheel rebound coefficient, H R Denotes the right wheel center displacement, ηR Indicates the right wheel rebound coefficient.

[0023] According to an embodiment of the present invention, controlling the left and right wheels of a vehicle to move towards each other from corresponding set positions at a preset step length includes: controlling the left wheel of the vehicle to move to a first set position, and controlling the right wheel of the vehicle to move to a second set position, wherein the first set position and the second set position are symmetric along the middle reference line; controlling the left wheel of the vehicle to move from the first set position towards the right wheel at a preset step length, and simultaneously controlling the right wheel of the vehicle to move from the second set position towards the left wheel in synchronization with the left wheel.

[0024] According to an embodiment of the present invention, controlling the left and right wheels of a vehicle to move in the same direction from a set position at a preset step length includes: controlling the left and right wheels of the vehicle to move to a third set position, wherein the third set position is the same as the first set position or the second set position; controlling the left and right wheels of the vehicle to move towards the middle reference line from the third set position at a preset step length.

[0025] According to an embodiment of the present invention, strain gauges are respectively arranged on the left and right springs of a non-independent suspension for reading the degrees of the spring strain gauges, and the angle between the strain gauge and the spring axis is 45° ± 3°.

[0026] To achieve the above object, a second aspect embodiment of the present invention proposes a computer-readable storage medium, on which a program for measuring the wheel center displacement of a non-independent suspension is stored. When the program for measuring the wheel center displacement of the non-independent suspension is executed by a processor, the above method for measuring the wheel center displacement of the non-independent suspension is implemented.

[0027] Based on the above method for measuring the wheel center displacement of a non-independent suspension, the computer-readable storage medium according to an embodiment of the present invention effectively eliminates the influence of the change in the suspension leverage ratio during the reverse jump of the suspension on the test result, realizes a large improvement in measurement accuracy, and has low cost, fast response, and wide application range.

[0028] To achieve the above object, an embodiment of the third aspect of the present invention provides a device for measuring the wheel center displacement of a non-independent suspension, including: a control module for controlling the left and right wheels of the vehicle to move in the same direction from a set position at a preset step length; a first acquisition module for respectively acquiring the wheel center displacement and the corresponding spring strain gauge readings each time the left and right wheels move in the same direction, and obtaining the left-wheel same-direction calibration parameters and the right-wheel same-direction calibration parameters based on all the wheel center displacements and the corresponding spring strain gauge readings; the control module is further configured to control the left and right wheels of the vehicle to move towards each other from the corresponding set positions at a preset step length; a second acquisition module for respectively acquiring the spring strain gauge readings corresponding to the wheel center displacements each time the left and right wheels move towards each other, and obtaining the left-wheel rebound coefficient and the right-wheel rebound coefficient based on all the wheel center displacements and the corresponding spring strain gauge readings; a wheel center determination module for determining the wheel center displacement based on the left-wheel same-direction calibration parameters, the right-wheel same-direction calibration parameters, the left-wheel rebound coefficient, the right-wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension.

[0029] According to the device for measuring the wheel center displacement of a non-independent suspension in an embodiment of the present invention, the control module controls the left and right wheels of the vehicle to move in the same direction from a set position at a preset step length. The first acquisition module respectively acquires the wheel center displacement and the corresponding spring strain gauge readings each time the left and right wheels move in the same direction, and obtains the left-wheel same-direction calibration parameters and the right-wheel same-direction calibration parameters based on all the wheel center displacements and the corresponding spring strain gauge readings. The control module controls the left and right wheels of the vehicle to move towards each other from the corresponding set positions at a preset step length. The second acquisition module respectively acquires the spring strain gauge readings corresponding to the wheel center displacements each time the left and right wheels move towards each other, and obtains the left-wheel rebound coefficient and the right-wheel rebound coefficient based on all the wheel center displacements and the corresponding spring strain gauge readings. The wheel center determination module determines the wheel center displacement based on the left-wheel same-direction calibration parameters, the right-wheel same-direction calibration parameters, the left-wheel rebound coefficient, the right-wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension. Thus, the device effectively eliminates the influence of the change in the suspension leverage ratio during the reverse bounce of the suspension on the test results, realizes a large improvement in measurement accuracy, and has low cost, fast response, and wide application range, and can be applied to work such as suspension development and road spectrum acquisition.

[0030] To achieve the above object, an embodiment of the fourth aspect of the present invention provides a vehicle, including the above device for measuring the wheel center displacement of a non-independent suspension.

[0031] According to the vehicle in an embodiment of the present invention, based on the above device for measuring the wheel center displacement of a non-independent suspension, it effectively eliminates the influence of the change in the suspension leverage ratio during the reverse bounce of the suspension on the test results, realizes a large improvement in measurement accuracy, and has low cost, fast response, and wide application range.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0033] Figure 1 It is a flowchart of a method for measuring the wheel center displacement in the vertical direction of a non-independent suspension according to an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the measurement error of the wheel center displacement in the vertical direction of a non-independent suspension using the existing spring resistance strain gauge calibration method according to an embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram of a system for measuring the wheel center displacement in the vertical direction of a non-independent suspension according to an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram for comparing test results in an actual road test according to a specific embodiment of the present invention;

[0037] Figure 5 It is a block schematic diagram of a device for measuring the wheel center displacement in the vertical direction of a non-independent suspension according to an embodiment of the present invention;

[0038] Figure 6 It is a block schematic diagram of a vehicle according to an embodiment of the present invention. Detailed Embodiments

[0039] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0040] The following describes a method for measuring the wheel center displacement in the vertical direction of a non-independent suspension, a computer-readable storage medium, a device for measuring the wheel center displacement in the vertical direction of a non-independent suspension, and a vehicle proposed according to embodiments of the present invention with reference to the drawings.

[0041] Figure 1 It is a flowchart of a method for measuring the wheel center displacement in the vertical direction of a non-independent suspension according to an embodiment of the present invention.

[0042] In the related art, when using the spring resistance strain gauge calibration method to measure the Z-direction displacement of the wheel center, there will be a measurement error in the reverse wheel hop as shown in Figure 2 . When the spring elongation is the same, the camber angle has a greater impact on the Z-direction displacement of the wheel center.

[0043] In addition, in the related art, the following method for measuring the Z-direction displacement of the wheel center is also adopted:

[0044] 1. Measuring method of wire displacement sensor: Install a wire displacement sensor with tension on a fixed position of the vehicle suspension system or wheel. Connect the wire to the vehicle body. During vehicle driving, take the change in the length of the wire collected as the Z - direction displacement of the wheel center.

[0045] 2. Install a potentiometer on the spring to measure the spring strain, calibrate the relationship between the spring strain when the wheel is parallel to the wheel jump and the Z - direction displacement of the wheel center. During vehicle driving, substitute the collected spring strain into the calibration relationship to obtain the Z - direction displacement of the wheel center.

[0046] 3. Install a laser sensor on the vehicle body and a reflector on the wheel, measure the distance from the laser to the reflector during driving, and take this as the Z - direction displacement of the wheel center.

[0047] 4. Install an acceleration sensor at the wheel rim, and use the double - integration method to predict the Z - direction displacement of the wheel center.

[0048] 5. Install a binocular vision device at the front end of the vehicle and a marker board at the wheel side. The binocular vision device performs real - time observation and analysis on the marker board through vision algorithms, records the wheel position, and obtains the Z - direction displacement of the wheel center.

[0049] The above - mentioned measurement methods cannot completely eliminate the influence of the wheel inclination on the measurement accuracy of the Z - direction displacement of the wheel center during the reverse bounce of the left and right wheels of the non - independent suspension as shown in Figure 1 The reasons are as follows:

[0050] 1. The measuring method of wire displacement sensor has low cost and is easy to install, but has a low sampling rate, large high - frequency error. And if the wire is installed inside the vehicle, the measured value will be smaller than the actual Z - direction displacement value of the wheel center; if the wire is installed outside the vehicle, the measured value will be larger than the actual value. Therefore, it cannot eliminate the influence of the wheel inclination on the measurement accuracy of the Z - direction displacement of the wheel center.

[0051] 2. Installing a potentiometer on the spring and calibrating the relationship between the spring strain and the wheel displacement through the wheel parallel wheel jump has a high sampling rate, is easy to install, and has low cost. However, it cannot eliminate the influence of the inclination on the measurement accuracy of the Z - direction displacement of the wheel center, resulting in the measured value being smaller than the actual value during the reverse wheel jump of the wheel.

[0052] 3. Installing a laser sensor on the vehicle body and a reflector on the wheel, and measuring the laser reflection during driving to obtain the Z - direction displacement of the wheel center has a high sampling rate, is easy to install, and has high cost. But it can only be installed outside the vehicle, cannot eliminate the influence of the wheel inclination on the measurement accuracy of the Z - direction displacement of the wheel center. Usually, the measured value is larger than the true value, and it is easily affected by the environment such as dust and light. There are also problems such as inaccurate measurement due to the light breaking away from the mounting plate during the impact process.

[0053] 4. A method of installing an acceleration sensor on the wheel hub and predicting the Z-direction displacement of the wheel center using the double integration method has a high sampling rate, is easy to install, but has a high cost. However, in actual vehicle road tests, factors such as electromagnetic interference and environmental temperature can cause zero drift of the sensor, resulting in certain noise signals in the test data. These signals will have a large error after being amplified in the integration link, and the error is difficult to eliminate, unable to meet the accuracy requirements.

[0054] 5. A method of using a binocular vision system device to obtain the Z-direction displacement of the wheel center has high accuracy, but extremely high cost, and high environmental requirements. It cannot be measured in environments such as low visibility weather at night, rain, fog, and haze.

[0055] To solve the above problems, the present invention proposes a method for measuring the wheel center displacement of a non-independent suspension.

[0056] In an embodiment of the present invention, first construct a wheel center displacement measurement system as shown in Figure 3 . The method for measuring the wheel center displacement of the non-independent suspension in the embodiment of the present invention is applied to this calibration system. The system includes a test bench, an actuation control system, a data acquisition system, and a data post-processing system. Among them, the test bench includes a calibration bench vertical loading pier, a wheel center position scanner, and a fixing frame. It should be noted that the test bench, actuation control system, and data acquisition system in the above system are the software and hardware that traditional K&C test benches all have, and the control system can also be developed independently.

[0057] According to an embodiment of the present invention, strain gauges are respectively arranged on the left and right springs of the non-independent suspension for reading the spring strain gauge readings, and the included angle between the strain gauge and the spring axis is 45° ± 3°.

[0058] Specifically, strain gauges are respectively pasted on the left and right springs of the non-independent suspension and torsion beam suspension, where the left and right springs respectively correspond to the left and right wheels, and the strain gauges are pasted along a direction at an angle of 45° ± 3° to the spring axis.

[0059] Before measuring the wheel center displacement, first weigh the vehicle to the designed state load, and the load difference between the left and right wheels should be less than or equal to 10 kg. Then drive the vehicle into the test bench, so that the left and right wheels are respectively moved to the corresponding left and right separate calibration bench vertical loading piers, fix and clamp the vehicle body through the fixing frame, and the wheel center position scanner respectively monitors the positions of the left and right wheel centers. At this time, the test bench is not loaded, and the spring strain gauge readings of the strain gauges on the left and right springs are zeroed, and then the wheel center displacement is measured.

[0060] As shown in Figure 1 , the method for measuring the wheel center displacement of the non-independent suspension may include:

[0061] S1, control the left and right wheels of the vehicle to move in the same direction from the set position according to a preset step length. The preset step length can be set according to the actual situation.

[0062] That is to say, the actuation control system controls the vertical loading pier of the calibration bench to move upward or downward along the Z direction through a control signal, thereby driving the left and right wheels of the vehicle to perform the same-direction displacement along the Z direction. For example, first, set the reference position in the Z direction to 0 mm, upward in the Z direction is positive, and downward is negative. Assume that the displacement range of the left and right wheels of the vehicle is [-60 mm, 60 mm], the preset step length is 10 mm, and the wheel center loading displacement error requirement is within ±1 mm. That is to say, the actuation control system controls the vertical loading pier of the calibration bench to move along the Z direction at a step length of 10 mm ± 1 mm each time. For example, drive the left and right wheels of the vehicle to move from -60 mm to 60 mm at the same time. The moving positions of the wheel centers of the left and right wheels of the vehicle in the Z direction are (60, 60), (50, 50), (40, 40), (30, 30), (20, 20), (10, 10), (0, 0), (-10, -10), (-20, -20), (-30, -30), (-40, -40), (-50, -50), (-60, -60) respectively, and a total of 13 moves are made.

[0063] S2, respectively obtain the wheel center displacement and the corresponding spring strain gauge readings when the left and right wheels move in the same direction each time, and obtain the left-wheel same-direction calibration parameters and the right-wheel same-direction calibration parameters according to all the wheel center displacements and the corresponding spring strain gauge readings.

[0064] That is to say, at each moving position of the left and right wheels during the same-direction movement, first, determine whether the current wheel center reaches the specified wheel center displacement through the wheel center position scanners corresponding to the left and right wheels respectively. If the wheel reaches the specified wheel center displacement, obtain the spring strain gauge readings corresponding to the left and right wheels through the strain gauges on the left and right springs respectively. The left wheel determines the left-wheel same-direction calibration parameters according to the wheel center displacement of the left wheel during the same-direction displacement and the spring strain gauge reading of the left wheel at the corresponding displacement. The right wheel determines the right-wheel same-direction calibration parameters according to the wheel center displacement of the right wheel during the same-direction displacement and the spring strain gauge reading of the right wheel at the corresponding displacement. Among them, the loading error of the wheel center displacement can be required to be within ±1 mm.

[0065] In an embodiment of the present invention, the left-wheel same-direction calibration parameters and the right-wheel same-direction calibration parameters are obtained through the following formula:

[0066]

[0067] Where K LDenote the co-direction calibration parameter of the left wheel, S Li Denote the set of the degrees of the spring strain gauges corresponding to all the displacements of the left wheel centers when the left and right wheels move in the same direction, W Li Denote the set of all the displacements of the left wheel centers when the left and right wheels move in the same direction, K R Denote the co-direction calibration parameter of the right wheel, S Ri Denote the set of the degrees of the spring strain gauges corresponding to all the displacements of the right wheel centers when the left and right wheels move in the same direction, W Ri Denote the set of all the displacements of the right wheel centers when the left and right wheels move in the same direction, i = 1, 2, …, n, where n represents the number of movements.

[0068] Specifically, continue to take the displacement ranges of the left and right wheels of the above vehicle as [-60 mm, 60 mm] and the preset step size as 10 mm as an example. When recording 13 movements, record the displacement W of the left wheel center in the Z direction Li , the displacement W of the right wheel center in the Z direction Ri , the degree S of the left spring strain gauge Li , the degree S of the right spring strain gauge Ri , and then substitute the parameters corresponding to the 13 loadings into formula (1) to calculate the co-direction calibration parameter K of the left wheel L and the co-direction calibration parameter K of the right wheel R .

[0069] It can be understood that the above co-direction calibration parameter K of the left wheel L is the slope of the linear regression line fitted to the data points corresponding to the set S of the degrees of the spring strain gauges corresponding to all the displacements of the left wheel centers when the left and right wheels move in the same direction obtained from 13 loadings Li and the set W of all the displacements of the left wheel centers when the left and right wheels move in the same direction Li , while the co-direction calibration parameter K of the right wheel R is the slope of the linear regression line fitted to the data points corresponding to the set S of the degrees of the spring strain gauges corresponding to all the displacements of the right wheel centers when the left and right wheels move in the same direction obtained from 13 loadings Ri and the set W of all the displacements of the right wheel centers when the left and right wheels move in the same direction Ri .

[0070] S3. Control the left and right wheels of the vehicle to move towards each other from the corresponding set positions according to the preset step size. Among them, the preset step size can be set according to the actual situation.

[0071] That is to say, the actuation control system controls the vertical loading piers of the calibration test bench to move in different directions along the Z-axis respectively, so that the left wheel and the right wheel move up and down along the Z-axis respectively to achieve reverse wheel hop. During the test, the actuation control system can first control the two vertical loading piers of the calibration test bench that respectively bear the left and right wheels of the vehicle to move in the reverse direction along the Z-axis, so as to form a certain displacement difference along the Z-axis, and then control the two vertical loading piers of the calibration test bench to move towards each other with a preset step size.

[0072] It can be understood that in addition to the above setting method, during the test, the actuation control system can also control the vertical loading piers of the calibration test bench to move in the reverse direction with a preset step size from the same Z-axis position, and the specific operation can be set according to the actual situation.

[0073] According to an embodiment of the present invention, controlling the left and right wheels of the vehicle to move towards each other from the corresponding set positions with a preset step size includes: controlling the left wheel of the vehicle to move to the first set position, and controlling the right wheel of the vehicle to move to the second set position, wherein the first set position and the second set position are symmetric along the middle reference line; controlling the left wheel of the vehicle to move from the first set position towards the right wheel with a preset step size, and at the same time controlling the right wheel of the vehicle to move from the second set position towards the left wheel and synchronize with the left wheel. Among them, the first set position and the second set position can be set according to the actual situation.

[0074] Specifically, taking the middle reference line as 0mm, along the Z-axis, the first set position is 60mm, the second set position is -60mm, and the preset step size is 10mm as an example. First, the actuation control system controls the vertical loading pier of the calibration test bench that bears the left wheel of the vehicle to load upwards, so that the wheel center of the left wheel moves to 60mm, and controls the vertical loading pier of the calibration test bench that bears the right wheel of the vehicle to load downwards, so that the wheel center of the right wheel moves to -60mm. Then, the two vertical loading piers of the calibration test bench are loaded in the reverse direction at the same time, so that the left wheel and the right wheel move towards each other synchronously. That is to say, the left wheel moves downwards, the right wheel moves upwards, and the Z-axis loading positions of the wheel centers of the left wheel and the right wheel are respectively (60, -60), (50, -50), (40, -40), (30, -30), (20, -20), (10, -10), (0, 0), (-10, 10), (-20, 20), (-30, 30), (-40, 40), (-50, 50), (-60, 60). Among them, the allowable error range is 1mm, then the vertical loading pier of the calibration test bench is loaded along the Z-axis each time with 10mm ± 1mm as the limit, and a total of 13 times of loading are carried out.

[0075] According to an embodiment of the present invention, controlling the left and right wheels of a vehicle to move in the same direction from a set position by a preset step length includes: controlling the left and right wheels of the vehicle to move to a third set position, where the third set position is the same as the first set position or the second set position; controlling the left and right wheels of the vehicle to move from the third set position to the middle reference line simultaneously by the preset step length.

[0076] Specifically, continuing to take the middle reference line as 0 mm, the first set position as 60 mm, and the second set position as -60 mm as an example, the third set position during the same-direction movement of the left and right wheels can be set to 60 mm or -60 mm. That is to say, the starting positions of the left and right wheels during the same-direction movement can be set to the first set position or the second set position during the opposite-direction movement, and then the left and right wheels are controlled to move to 0 mm simultaneously according to the preset step length of the same-direction movement.

[0077] S4. Respectively obtain the spring strain gauge readings corresponding to the wheel center displacements of the left and right wheels each time they move in opposite directions, and obtain the left wheel rebound coefficient and the right wheel rebound coefficient based on all the wheel center displacements and the corresponding spring strain gauge readings.

[0078] That is to say, at each moving position of the left and right wheels during the opposite-direction movement, first determine whether the current wheel center reaches the specified wheel center displacement through the wheel center position scanners respectively corresponding to the left and right wheels. If the wheel reaches the specified wheel center displacement, obtain the spring strain gauge readings respectively corresponding to the left and right wheels through the strain gauges on the left and right springs. The left wheel determines the left wheel rebound coefficient according to the wheel center displacement of the left wheel during the opposite-direction displacement and the spring strain gauge reading of the left wheel at the corresponding displacement, and the right wheel determines the right wheel rebound coefficient according to the wheel center displacement of the right wheel during the opposite-direction displacement and the spring strain gauge reading of the right wheel at the corresponding displacement.

[0079] According to an embodiment of the present invention, the left wheel rebound coefficient and the right wheel rebound coefficient are obtained through the following formula:

[0080]

[0081]

[0082] Where η L represents the left wheel rebound coefficient, W Li ′ represents the left wheel center displacement when the left and right wheels move in opposite directions, K L represents the left wheel same-direction calibration parameter, S Li ′ represents the spring strain gauge reading corresponding to the left wheel center displacement when the left and right wheels move in opposite directions, η R represents the right wheel rebound coefficient, W Ri ′ represents the right wheel center displacement when the left and right wheels move in opposite directions, KR Indicates the right - wheel co - directional calibration parameter, S Ri ′ represents the spring strain gauge reading corresponding to the displacement of the right - wheel center when the left and right wheels move towards each other. i = 1, 2, …, n, where n represents the number of movements.

[0083] Specifically, taking the displacement range of the left and right wheels of the above - mentioned vehicle as [-60 mm, 60 mm] and the preset step size as 10 mm as an example, record the displacement W Li ′ of the left - wheel center when the left and right wheels move towards each other, the spring strain gauge reading S Li ′ corresponding to the displacement of the left - wheel center when the left and right wheels move towards each other, the displacement W Ri ′ of the right - wheel center when the left and right wheels move towards each other, and the spring strain gauge reading S Ri ′ corresponding to the displacement of the right - wheel center when the left and right wheels move towards each other. Then substitute the left - wheel co - directional calibration parameter K L and the right - wheel co - directional calibration parameter K R into formula (2) to calculate the left - wheel rebound coefficient η L and the right - wheel rebound coefficient η R .

[0084] S5. Determine the wheel - center displacement according to the left - wheel co - directional calibration parameter, the right - wheel co - directional calibration parameter, the left - wheel rebound coefficient, the right - wheel rebound coefficient, and the strain of the left and right springs on the non - independent suspension.

[0085] In an embodiment of the present invention, the wheel - center displacement includes the left - wheel center displacement and the right - wheel center displacement, and the left - wheel center displacement and the right - wheel center displacement are obtained through the following formula:

[0086]

[0087] Where H L represents the left - wheel center displacement, K L represents the left - wheel co - directional calibration parameter, HS L represents the strain of the left spring on the non - independent suspension, K R represents the right - wheel co - directional calibration parameter, HS R represents the strain of the right spring on the non - independent suspension, η L represents the left - wheel rebound coefficient, H R represents the right - wheel center displacement, η R represents the right - wheel rebound coefficient.

[0088] That is to say, substitute the obtained left - wheel co - directional calibration parameter K L , the right - wheel co - directional calibration parameter K R , the left - wheel rebound coefficient η L , and the right - wheel rebound coefficient η RSubstitute into formula (3), that is, decouple the calibration coefficients of the in-phase wheel hop and the anti-phase wheel hop, and obtain the calibration formula (3) of the wheel center Z-direction displacement-spring strain by eliminating the influence of the inclination angle through the decoupling algorithm. During the vehicle road test, the strain HS of the left spring on the non-independent suspension obtained in real time L and the strain HS of the right spring on the non-independent suspension R are substituted into the calibration formula (3) of the wheel center Z-direction displacement-spring strain obtained above to obtain the current left wheel center displacement H L and the right wheel center displacement H R , thereby realizing the measurement of the wheel center Z-direction displacement during the vehicle's dynamic driving process.

[0089] Furthermore, in the ADAMS simulation, the comparison results of the method for measuring the wheel Z-direction displacement using a traditional strain gauge and the method for measuring the wheel center Z-direction displacement in the embodiment of the present invention for a certain vehicle are simulated, as shown in Table 1.

[0090] Table 1

[0091]

[0092] Referring to Table 1, it can be seen that the method for measuring the wheel center Z-direction displacement of the non-independent suspension of the present invention has basically improved the accuracy by more than 90% compared with the method for measuring the wheel Z-direction displacement using a traditional strain gauge.

[0093] In addition, during the actual road test, a high-precision wheel hop test device is used to compare the results of the method for measuring the wheel Z-direction displacement using a traditional strain gauge and the method for measuring the wheel center Z-direction displacement in the embodiment of the present invention, resulting in a schematic diagram as Figure 4 shown. Referring to Figure 4 it can be seen that the measurement result of the method for measuring the wheel center Z-direction displacement of the non-independent suspension of the present invention is significantly less error-prone and has a higher correlation than the traditional measurement method.

[0094] In summary, according to the method for measuring the wheel center displacement of a non-independent suspension according to an embodiment of the present invention, first, a test system is built, and then the vertical loading piers of the calibration bench are controlled by an actuation control system to perform co-directional or counter-directional loading, so as to achieve the co-directional or counter-directional movement of the left and right wheels of the vehicle, that is, to achieve co-directional wheel hop or counter-directional wheel hop, and record the wheel center displacement and the readings of the spring strain gauges for each movement. Then, the left-wheel co-directional calibration parameters and the right-wheel co-directional calibration parameters are determined according to the wheel center displacement and the readings of the spring strain gauges during the co-directional movement, and the left-wheel rebound coefficient and the right-wheel rebound coefficient are determined according to the wheel center displacement and the readings of the spring strain gauges during the counter-directional movement. Then, a decoupling algorithm is used to obtain the wheel center Z-direction displacement calibration formula (3) that eliminates the influence of the inclination angle. During the road test, the strains of the left and right springs on the non-independent suspension are obtained in real time, and then substituted into formula (3) to determine the current wheel center Z-direction displacement. Therefore, compared with the traditional calibration method that only measures co-directional wheel hop, which causes interference between the left and right wheels during the counter-directional bounce of the non-independent suspension and results in inaccurate measurement of the wheel center Z-phase displacement, the present invention provides a high-precision calibration and measurement method for the wheel center Z-direction displacement of the non-independent suspension. The key point of this method lies in the decoupling method of the calibration coefficients (i.e., the left-wheel co-directional calibration parameters, the right-wheel co-directional calibration parameters, the left-wheel rebound coefficient, and the right-wheel rebound coefficient) obtained from the measured co-directional wheel hop and counter-directional wheel hop, which can effectively eliminate the influence of the change in the suspension leverage ratio on the test results during the counter-directional bounce of the suspension. Compared with other wheel hop test methods, the measurement accuracy is greatly improved, and the test method has low cost, fast response, wide application range and scenarios, and can be applied to suspension development, road spectrum acquisition and other work.

[0095] In summary, according to the method for measuring the wheel center displacement of a non-independent suspension according to an embodiment of the present invention, first, control the left and right wheels of the vehicle to move co-directionally from the set position according to a preset step length, respectively obtain the wheel center displacement and the corresponding readings of the spring strain gauges for each co-directional movement of the left and right wheels, and obtain the left-wheel co-directional calibration parameters and the right-wheel co-directional calibration parameters according to all the wheel center displacements and the corresponding readings of the spring strain gauges. Then, control the left and right wheels of the vehicle to move counter-directionally from the corresponding set positions according to a preset step length, respectively obtain the readings of the spring strain gauges corresponding to the wheel center displacement for each counter-directional movement of the left and right wheels, and obtain the left-wheel rebound coefficient and the right-wheel rebound coefficient according to all the wheel center displacements and the corresponding readings of the spring strain gauges. Finally, determine the wheel center displacement according to the left-wheel co-directional calibration parameters, the right-wheel co-directional calibration parameters, the left-wheel rebound coefficient, the right-wheel rebound coefficient, and the strains of the left and right springs on the non-independent suspension. Therefore, this method effectively eliminates the influence of the change in the suspension leverage ratio on the test results during the counter-directional bounce of the suspension, realizes a large improvement in measurement accuracy, and has low cost, fast response, and wide application range.

[0096] Corresponding to the above embodiment, the present invention also proposes a computer-readable storage medium.

[0097] The computer-readable storage medium according to an embodiment of the present invention stores a program for measuring the wheel center displacement of a non-independent suspension. When the program for measuring the wheel center displacement of the non-independent suspension is executed by a processor, the above-mentioned method for measuring the wheel center displacement of the non-independent suspension is implemented.

[0098] According to the computer-readable storage medium of the embodiment of the present invention, based on the above-mentioned method for measuring the wheel center displacement of the non-independent suspension, the influence of the change in the suspension leverage ratio during the reverse bounce of the suspension on the test results is effectively eliminated, a substantial improvement in measurement accuracy is achieved, and it has low cost, fast response, and wide application range.

[0099] Corresponding to the above embodiments, the present invention also proposes a device for measuring the wheel center displacement of a non-independent suspension.

[0100] As Figure 5 shown, the device for measuring the wheel center displacement of the non-independent suspension according to the embodiment of the present invention may include: a control module 10, a first acquisition module 20, a second acquisition module 30, and a wheel center determination module 40.

[0101] Among them, the control module 10 is used to control the left and right wheels of the vehicle to move in the same direction from the set position at a preset step size. The first acquisition module 20 is used to respectively acquire the wheel center displacement and the corresponding spring strain gauge readings when the left and right wheels move in the same direction each time, and obtain the left-wheel same-direction calibration parameter and the right-wheel same-direction calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge readings. The control module 10 is further used to control the left and right wheels of the vehicle to move in opposite directions from the corresponding set positions at a preset step size. The second acquisition module 30 is used to respectively acquire the spring strain gauge readings corresponding to the wheel center displacement when the left and right wheels move in opposite directions each time, and obtain the left-wheel rebound coefficient and the right-wheel rebound coefficient according to all the wheel center displacements and the corresponding spring strain gauge readings. The wheel center determination module 40 is used to determine the wheel center displacement according to the left-wheel same-direction calibration parameter, the right-wheel same-direction calibration parameter, the left-wheel rebound coefficient, the right-wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension.

[0102] According to an embodiment of the present invention, the first acquisition module 20 obtains the left-wheel same-direction calibration parameter and the right-wheel same-direction calibration parameter through the following formula:

[0103]

[0104]

[0105] Among them, K L represents the left-wheel same-direction calibration parameter, S Li represents the set of spring strain gauge readings corresponding to all the left-wheel center displacements when the left and right wheels move in the same direction, WLi denotes the set of displacements of all left wheel centers when the left and right wheels move in the same direction, K R denotes the right wheel calibration parameter in the same direction, S Ri denotes the set of readings of the spring strain gauges corresponding to the displacements of all right wheel centers when the left and right wheels move in the same direction, W Ri denotes the set of displacements of all right wheel centers when the left and right wheels move in the same direction, i = 1, 2, …, n, where n represents the number of movements.

[0106] According to an embodiment of the present invention, the second acquisition module 30 obtains the left wheel rebound coefficient and the right wheel rebound coefficient through the following formula:

[0107]

[0108]

[0109] where η L denotes the left wheel rebound coefficient, W Li ′ denotes the displacement of the left wheel center when the left and right wheels move towards each other, K L denotes the left wheel calibration parameter in the same direction, S Li ′ denotes the reading of the spring strain gauge corresponding to the displacement of the left wheel center when the left and right wheels move towards each other, η R denotes the right wheel rebound coefficient, W Ri ′ denotes the displacement of the right wheel center when the left and right wheels move towards each other, K R denotes the right wheel calibration parameter in the same direction, S Ri ′ denotes the reading of the spring strain gauge corresponding to the displacement of the right wheel center when the left and right wheels move towards each other, i = 1, 2, …, n, where n represents the number of movements.

[0110] According to an embodiment of the present invention, the wheel center determination module 40 includes the left wheel center displacement and the right wheel center displacement, and obtains the left wheel center displacement and the right wheel center displacement through the following formula:

[0111]

[0112]

[0113] where H L denotes the left wheel center displacement, K L denotes the left wheel calibration parameter in the same direction, HS L denotes the strain of the left spring on the non-independent suspension, K R denotes the right wheel calibration parameter in the same direction, HS R denotes the strain of the right spring on the non-independent suspension, η L denotes the left wheel rebound coefficient, H R denotes the right wheel center displacement, η R denotes the right wheel rebound coefficient.

[0114] According to an embodiment of the present invention, the control module 10 controls the left and right wheels of the vehicle to move towards each other from corresponding set positions according to a preset step length, specifically for: controlling the left wheel of the vehicle to move to a first set position, and controlling the right wheel of the vehicle to move to a second set position, wherein the first set position and the second set position are symmetric along the middle reference line; controlling the left wheel of the vehicle to move from the first set position towards the right wheel direction with the preset step length, and at the same time controlling the right wheel of the vehicle to move from the second set position towards the left wheel direction synchronously with the left wheel.

[0115] According to an embodiment of the present invention, the control module 10 controls the left and right wheels of the vehicle to move in the same direction from a set position according to a preset step length, specifically for: controlling the left and right wheels of the vehicle to move to a third set position, wherein the third set position is the same as the first set position or the second set position; controlling the left and right wheels of the vehicle to move towards the middle reference line from the third set position at the preset step length.

[0116] According to an embodiment of the present invention, strain gauges are respectively arranged on the left and right springs of the non-independent suspension for reading the degrees of the spring strain gauges, and the included angle between the strain gauge and the spring axis is 45° ± 3°.

[0117] It should be noted that for the details not disclosed in the wheel center displacement measurement device of the non-independent suspension in the embodiment of the present invention, please refer to the details disclosed in the wheel center displacement measurement method of the non-independent suspension in the above embodiment of the present invention, and specific details will not be elaborated here.

[0118] According to the wheel center displacement measurement device of the non-independent suspension in the embodiment of the present invention, the control module controls the left and right wheels of the vehicle to move in the same direction from a set position according to a preset step length. The first acquisition module respectively acquires the wheel center displacement and the corresponding spring strain gauge degrees each time the left and right wheels move in the same direction, and obtains the left wheel same-direction calibration parameter and the right wheel same-direction calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge degrees. The control module controls the left and right wheels of the vehicle to move towards each other from corresponding set positions according to a preset step length. The second acquisition module respectively acquires the spring strain gauge degrees corresponding to the wheel center displacements each time the left and right wheels move towards each other, and obtains the left wheel rebound coefficient and the right wheel rebound coefficient according to all the wheel center displacements and the corresponding spring strain gauge degrees. The wheel center determination module determines the wheel center displacement according to the left wheel same-direction calibration parameter, the right wheel same-direction calibration parameter, the left wheel rebound coefficient, the right wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension. Thus, the device effectively eliminates the influence of the change of the suspension leverage ratio on the test result during the reverse bounce of the suspension, realizes a large improvement in the measurement accuracy, and has low cost, fast response, and wide application range, and can be applied to work such as suspension development and road spectrum acquisition.

[0119] Corresponding to the above embodiments, the present invention also provides a vehicle.

[0120] As Figure 6 shown, the vehicle 100 according to the embodiment of the present invention includes the above-mentioned wheel center displacement measuring device 110 of the non-independent suspension.

[0121] The vehicle according to the embodiment of the present invention, based on the above-mentioned wheel center displacement measuring device of the non-independent suspension, effectively eliminates the influence of the change of the suspension leverage ratio on the test result during the reverse bounce of the suspension, realizes a substantial improvement in the measurement accuracy, and has low cost, fast response and wide application range.

[0122] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus or device), or in combination with these instruction execution systems, apparatus or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0123] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0124] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0125] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0126] In the present invention, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0127] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for measuring the wheel center displacement of a non-independent suspension, characterized in that, Including: Controlling the left and right wheels of the vehicle to move in the same direction from a set position according to a preset step size; Respectively obtaining the wheel center displacement and the corresponding spring strain gauge degree each time the left and right wheels move in the same direction, and obtaining the left wheel same-direction calibration parameter and the right wheel same-direction calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge degrees; Controlling the left and right wheels of the vehicle to move towards each other from the corresponding set positions according to a preset step size; Respectively obtaining the spring strain gauge degrees corresponding to the wheel center displacements each time the left and right wheels move towards each other, and obtaining the left wheel rebound coefficient and the right wheel rebound coefficient according to all the wheel center displacements and the corresponding spring strain gauge degrees; Determining the wheel center displacement according to the left wheel same-direction calibration parameter, the right wheel same-direction calibration parameter, the left wheel rebound coefficient, the right wheel rebound coefficient and the strain of the left and right springs on the non-independent suspension; The wheel center displacement includes the left wheel center displacement and the right wheel center displacement, and the left wheel center displacement and the right wheel center displacement are obtained through the following formula: Among them, H L represents the displacement of the left wheel hub, K L represents the left wheel co-direction calibration parameter, HS L represents the strain of the left spring on the non-independent suspension, K R represents the right wheel co-direction calibration parameter, HS R represents the strain of the right spring on the non-independent suspension, η L represents the left wheel rebound coefficient, H R represents the displacement of the right wheel hub, η R represents the right wheel rebound coefficient.

2. The method for measuring the wheel center displacement of a non-independent suspension according to claim 1, characterized in that, The left wheel same-direction calibration parameter and the right wheel same-direction calibration parameter are obtained through the following formula: Among them, K L represents the left-wheel same-direction calibration parameter, S Li represents the set of the degrees of the spring strain gauges corresponding to the displacements of all left-wheel centers when the left and right wheels move in the same direction, W Li represents the set of the displacements of all left-wheel centers when the left and right wheels move in the same direction, K R represents the right-wheel same-direction calibration parameter, S Ri represents the set of the degrees of the spring strain gauges corresponding to the displacements of all right-wheel centers when the left and right wheels move in the same direction, W Ri represents the set of the displacements of all right-wheel centers when the left and right wheels move in the same direction, i = 1, 2,..., n, and n represents the number of movements.

3. The method for measuring the wheel center displacement of a non-independent suspension according to claim 1, characterized in that, The left wheel rebound coefficient and the right wheel rebound coefficient are obtained through the following formula: Among them, η L represents the left wheel rebound coefficient, W Li ' represents the displacement of the left wheel center when the left and right wheels move towards each other, K L represents the left wheel co-directional calibration parameter, S Li ' represents the reading of the spring strain gauge corresponding to the displacement of the left wheel center when the left and right wheels move towards each other, η R represents the right wheel rebound coefficient, W Ri ' represents the displacement of the right wheel center when the left and right wheels move towards each other, K R represents the right wheel co-directional calibration parameter, S Ri ' represents the reading of the spring strain gauge corresponding to the displacement of the right wheel center when the left and right wheels move towards each other, i = 1, 2, …, n, where n represents the number of movements.

4. The method for measuring the wheel center displacement of a non-independent suspension according to claim 1, characterized in that, Controlling the left and right wheels of the vehicle to move towards each other from the corresponding set positions according to a preset step size includes: Controlling the left wheel of the vehicle to move to a first set position, and controlling the right wheel of the vehicle to move to a second set position, wherein the first set position and the second set position are symmetric along the middle reference line; Controlling the left wheel of the vehicle to move from the first set position towards the right wheel direction at the preset step size, and simultaneously controlling the right wheel of the vehicle to move from the second set position towards the left wheel direction synchronously with the left wheel.

5. The method for measuring the wheel center displacement of a non-independent suspension according to claim 4, characterized in that, Controlling the left and right wheels of the vehicle to move in the same direction from a set position according to a preset step size includes: Controlling the left and right wheels of the vehicle to move to a third set position, wherein the third set position is the same as the first set position or the second set position; Controlling the left and right wheels of the vehicle to move from the third set position towards the middle reference line simultaneously at the preset step size.

6. The method for measuring the wheel center displacement of a non-independent suspension according to claim 1, characterized in that, Strain gauges are respectively arranged on the left and right springs of the non-independent suspension for reading the spring strain gauge degrees, and the included angle between the strain gauge and the spring axis is 45° ± 3°.

7. A computer-readable storage medium, characterized in that, It stores a program for measuring the wheel center displacement of the non-independent suspension. When the program for measuring the wheel center displacement of the non-independent suspension is executed by a processor, it realizes the method for measuring the wheel center displacement of the non-independent suspension according to any one of claims 1-6.

8. A device for measuring the wheel center displacement of a non-independent suspension, characterized in that, Including: A control module for controlling the left and right wheels of the vehicle to move in the same direction from a set position according to a preset step size; A first acquisition module for respectively obtaining the wheel center displacement and the corresponding spring strain gauge degree each time the left and right wheels move in the same direction, and obtaining the left wheel same-direction calibration parameter and the right wheel same-direction calibration parameter according to all the wheel center displacements and the corresponding spring strain gauge degrees; The control module is further configured to control the left and right wheels of the vehicle to move towards each other from the corresponding set positions according to a preset step size; A second acquisition module, configured to respectively acquire the degrees of the spring strain gauges corresponding to the wheel center displacements each time the left wheel and the right wheel move towards each other, and obtain a left wheel rebound coefficient and a right wheel rebound coefficient according to all the wheel center displacements and the corresponding degrees of the spring strain gauges; A wheel center determination module, configured to determine the wheel center displacement according to the left wheel co-directional calibration parameter, the right wheel co-directional calibration parameter, the left wheel rebound coefficient, the right wheel rebound coefficient, and the strain of the left and right springs on the non-independent suspension; The wheel center displacement includes a left wheel center displacement and a right wheel center displacement, and the left wheel center displacement and the right wheel center displacement are obtained through the following formula: Among them, H L represents the displacement of the left wheel hub, K L represents the left wheel co-direction calibration parameter, HS L represents the strain of the left spring on the non-independent suspension, K R represents the right wheel co-direction calibration parameter, HS R represents the strain of the right spring on the non-independent suspension, η L represents the left wheel rebound coefficient, H R represents the displacement of the right wheel hub, η R represents the right wheel rebound coefficient.

9. A vehicle, characterized in that, A wheel center displacement measuring device for a wheel including the non-independent suspension according to claim 8.

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