A method, system and readable storage medium for verifying virtual main performance

Abstract

The application relates to a virtual kingpin performance verification method and system and a readable storage medium, relates to the technical field of automobile suspensions, and is applied to a double wishbone suspension, the double wishbone suspension comprising a front upper swing arm, a rear upper swing arm, a front lower swing arm and a rear lower swing arm, and comprising the following steps: acquiring tire position information and double wishbone initial position information; calculating double wishbone updated position information based on the tire position information and the double wishbone initial position information after tire rotation, wherein the double wishbone updated position information is the new position of the double wishbone after tire rotation; calculating virtual kingpin position information based on the double wishbone updated position information; and generating virtual kingpin performance information based on the virtual kingpin position information. The application has the effect that when the hard points of the suspension and the tire rotation angle data are changed in the early stage of suspension design, the performance parameters of the changed virtual kingpin can be quickly obtained.

Description

Technical Field

[0001] This invention relates to the field of automotive suspension technology, and in particular to a method, system, and readable storage medium for verifying the performance of a virtual kingpin. Background Technology

[0002] With advancements in manufacturing processes, more vehicle models are adopting double ball joint suspensions. As an improved structure of the traditional double wishbone suspension, the double ball joint double wishbone front suspension offers greater design freedom and better performance optimization potential, and has been widely used in some high-end models.

[0003] The double-ball double wishbone suspension differs from the traditional double wishbone suspension in that it splits the upper and lower triangular arms into four control arms. Each of these four control arms is connected to other structures via ball joints and bushings. This means that the wheel's rotation centerline is no longer the traditional physical kingpin, but rather a virtual kingpin formed by connecting the intersections of the two upper and two lower control arms. As the tire's rotation center, the position of this virtual kingpin significantly impacts steering performance. Therefore, evaluating and analyzing the various performance parameters of the virtual kingpin is crucial in the early stages of automotive suspension design.

[0004] Currently, the verification calculation for virtual master sales needs to be obtained through analysis using multibody dynamics software or plotting software. In addition, more operations are required to measure various performance parameters during the analysis, making the process relatively cumbersome. Summary of the Invention

[0005] In the early stages of suspension design, when modifying the data on the hard points of the vehicle suspension and the tire steering angle, in order to quickly obtain the performance parameters after the change of the virtual kingpin, this invention provides a method, system, and readable storage medium for verifying the performance of the virtual kingpin.

[0006] Firstly, the present invention provides a method for verifying the performance of a virtual primary sales entity, which adopts the following technical solution: A method for verifying the performance of a virtual kingpin, applied to a double wishbone suspension, the double wishbone suspension including a front upper control arm, a rear upper control arm, a front lower control arm, and a rear lower control arm, comprising: Obtain tire position information and initial position information of the double wishbone; After the tire rotates, the updated position information of the double wishbone is calculated based on the tire position information and the initial position information of the double wishbone. The updated position information of the double wishbone is the new position of the double wishbone after the tire rotates. Calculate the virtual main pin position information based on the double crossarm update position information; And generate virtual master sales performance information based on the virtual master sales location information.

[0007] Furthermore, in the above-mentioned method for verifying the performance of a virtual kingpin, the tire position information includes the tire rotation angle and wheel center coordinates, and the initial position information of the double wishbone includes the coordinates of the inner point of the front upper swing arm, the outer point of the front upper swing arm, the inner point of the rear upper swing arm, the outer point of the rear upper swing arm, the inner point of the front lower swing arm, the outer point of the front lower swing arm, the inner point of the rear lower swing arm, and the outer point of the rear lower swing arm.

[0008] Furthermore, in the above-mentioned method for verifying the performance of a virtual master arm, the double swing arm update position information includes the front upper swing arm update position information, the rear upper swing arm update position information, the front lower swing arm update position information, and the rear lower swing arm update position information.

[0009] Furthermore, in the above-mentioned method for verifying the performance of a virtual kingpin, the step of calculating the updated position information of the double wishbone based on the tire position information and the initial position information of the double wishbone after the tire rotates, wherein the updated position information of the double wishbone is the new position of the double wishbone after the tire rotates, includes: The updated position information of the front upper control arm is calculated based on the coordinates of the inner point of the front upper control arm, the coordinates of the outer point of the front upper control arm, and the tire rotation angle. The updated position information of the rear upper control arm is calculated based on the coordinates of the inner point of the rear upper control arm, the coordinates of the outer point of the rear upper control arm, and the tire rotation angle. The updated position information of the front lower control arm is calculated based on the coordinates of the inner point of the front lower control arm, the coordinates of the outer point of the front lower control arm, and the tire rotation angle. The updated position information of the rear lower control arm is calculated based on the coordinates of the inner point of the rear lower control arm, the coordinates of the outer point of the rear lower control arm, and the tire rotation angle.

[0010] Furthermore, in the above-mentioned method for verifying the performance of a virtual kingpin, the step of calculating the updated position information of the front upper control arm based on the inner point coordinates of the front upper control arm, the outer point coordinates of the front upper control arm, and the tire rotation angle includes: The direction vector, length, and initial angle of the front upper swing arm are determined based on the coordinates of the inner point and the outer point of the front upper swing arm. The updated angle of the front upper control arm is determined based on the initial angle of the front upper control arm and the tire rotation angle. The updated position information of the front upper swing arm is calculated based on the updated angle of the front upper swing arm, the coordinates of the inner point of the front upper swing arm, the coordinates of the outer point of the front upper swing arm, and the length of the front upper swing arm. The calculation of the updated position information of the rear upper control arm based on the coordinates of the inner point of the rear upper control arm, the coordinates of the outer point of the rear upper control arm, and the tire rotation angle includes: The rear upper swing arm direction vector, rear upper swing arm length, and rear upper swing arm initial angle are determined based on the coordinates of the inner point of the rear upper swing arm and the coordinates of the outer point of the rear upper swing arm. The updated angle of the rear upper control arm is determined based on the initial angle of the rear upper control arm and the tire rotation angle. The updated position information of the rear upper swing arm is calculated based on the updated angle of the rear upper swing arm, the coordinates of the inner point of the rear upper swing arm, the coordinates of the outer point of the rear upper swing arm, and the length of the rear upper swing arm. The calculation of the updated position information of the front lower control arm based on the coordinates of the inner point of the front lower control arm, the coordinates of the outer point of the front lower control arm, and the tire rotation angle includes: The direction vector, length, and initial angle of the front lower control arm are determined based on the coordinates of the inner point and the outer point of the front lower control arm. The updated angle of the front lower control arm is determined based on the initial angle of the front lower control arm and the tire rotation angle. The updated position information of the front lower control arm is calculated based on the updated angle of the front lower control arm, the coordinates of the inner point of the front lower control arm, the coordinates of the outer point of the front lower control arm, and the length of the front lower control arm. The calculation of the updated position information of the rear lower control arm based on the coordinates of the inner point of the rear lower control arm, the coordinates of the outer point of the rear lower control arm, and the tire rotation angle includes: The rear lower control arm direction vector, rear lower control arm length, and rear lower control arm initial angle are determined based on the coordinates of the inner point and the outer point of the rear lower control arm. The updated angle of the rear lower control arm is determined based on the initial angle of the rear lower control arm and the tire rotation angle. The updated position information of the rear lower control arm is calculated based on the updated angle of the rear lower control arm, the coordinates of the inner point of the rear lower control arm, the coordinates of the outer point of the rear lower control arm, and the length of the rear lower control arm.

[0011] Furthermore, in the above-mentioned method for verifying the performance of a virtual master pin, the step of calculating the virtual master pin position information based on the double crossarm update position information includes: Based on the updated position information of the front upper swing arm and the updated position information of the rear upper swing arm, calculate the coordinates of the virtual intersection point; Based on the updated position information of the front lower control arm and the coordinates of the virtual intersection point, calculate the first plane information; Based on the updated position information of the rear lower control arm and the coordinates of the virtual intersection point, calculate the second plane information; The virtual main pin location information is calculated based on the first plane information and the second plane information.

[0012] Furthermore, in the above-mentioned method for verifying the performance of a virtual master pin, the virtual master pin location information consists of vertical coordinates, horizontal coordinates, and height coordinates; The virtual kingpin performance information includes kingpin inclination angle, kingpin caster angle, and offset information between the kingpin and the wheel center.

[0013] Furthermore, in the above-mentioned method for verifying the performance of a virtual master sales entity, the step of calculating the virtual master sales entity performance information based on the virtual master sales entity location information includes: The kingpin inclination angle is calculated based on the lateral coordinate and the height coordinate. The kingpin inclination angle is calculated based on the longitudinal coordinate and the height coordinate. The offset information is calculated based on the virtual kingpin position information and the wheel center coordinates.

[0014] Furthermore, in the above-mentioned method for verifying the performance of a virtual kingpin, the offset information includes longitudinal offset representing the longitudinal offset of the kingpin at the wheel center and lateral offset representing the lateral offset of the kingpin at the wheel center. The steps for calculating the offset information based on the virtual kingpin position information and the wheel center coordinates include: The virtual coordinates of the kingpin in the wheel center height plane are calculated based on the virtual kingpin position information and the wheel center coordinates; The longitudinal offset and the lateral offset are calculated based on the virtual coordinates and the wheel center coordinates.

[0015] Secondly, the present invention provides a verification system for the performance of a virtual primary sales entity, which adopts the following technical solution: A virtual master sales performance verification system includes: The data acquisition module is used to acquire tire position information and initial position information of the double wishbone. The data processing module is connected to the data acquisition module, receives the tire position information and the initial position information of the double wishbone, and generates virtual kingpin performance information based on a virtual kingpin performance verification method described in any one of the above technologies. The data output module is connected to the data processing module and receives and outputs the virtual master sales performance information.

[0016] Thirdly, the present invention provides an electronic device that adopts the following technical solution: An electronic device, comprising: processor; A memory communicatively connected to the processor; the memory stores instructions executable by the processor, which are executed by the processor to enable the processor to perform a virtual primary performance verification method as described in any of the above techniques.

[0017] Fourthly, the present invention provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium storing computer instructions that, when executed by a processor, implement a method for verifying the performance of a virtual masterbatch as described in any of the above-described techniques.

[0018] In summary, the present invention has at least the following beneficial technical effects: the present invention constructs coordinate relationships through algorithms and calculates the virtual master pin position information, thus enabling rapid monitoring of master pin changes without relying on the operation of simulation analysis software, and allowing for rapid performance verification in the initial stage. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a double-ball-head type double-crossarm structure according to an embodiment of the present invention; Figure 2 This is a flowchart of a method for verifying the performance of a virtual master sales system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a method for verifying the performance of a virtual master sell in an embodiment of the present invention; Figure 4 This is a flowchart of a method for verifying the performance of a virtual master sell in another embodiment of the present invention; Figure 5 This is a flowchart of a method for verifying the performance of a virtual master sell in another embodiment of the present invention; Figure 6 This is a flowchart of a method for verifying the performance of a virtual master sell in another embodiment of the present invention; Figure 7 This is a structural block diagram of a virtual master performance verification system according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The method steps described in this embodiment of the invention can be executed in the order described in the specific implementation, or the execution order of each step can be adjusted according to actual needs, provided that the technical problem can be solved. These are not listed one by one here.

[0022] The following is in conjunction with the appendix Figure 1-7 The present invention will be described in further detail below.

[0023] The kingpin of the suspension is the center of rotation of the tire, and its position has a significant impact on steering performance. Therefore, it is necessary to evaluate and analyze various performance parameters related to the kingpin in the early stages of suspension design.

[0024] With advancements in manufacturing processes, more vehicle models are adopting double ball joint suspensions. As an improved structure of the traditional double wishbone suspension, the double ball joint double wishbone front suspension offers greater design freedom and better performance optimization potential, and has been widely used in some high-end models.

[0025] Figure 1 The specific structure of the double-ball-joint double wishbone suspension includes a front upper control arm 1, a rear upper control arm 2, a front lower control arm 3, and a rear lower control arm 4. The outer ends of the front upper control arm 1 and the rear upper control arm 2 are connected to the vehicle body via bushings 5, and their inner ends are rotatably connected to the upper end of the steering knuckle 7 via ball joints 6. The outer ends of the front lower control arm 3 and the rear lower control arm 4 are connected to the subframe via bushings, and their inner ends are rotatably connected to the lower end of the steering knuckle 7 via ball joints. During driving, each control arm rotates around its respective ball joint as the tires rotate.

[0026] Based on the above-mentioned double ball joint double wishbone suspension, this embodiment of the invention provides a method for verifying the performance of the virtual kingpin. It can quickly obtain the kingpin parameters and kingpin offset of the changed virtual kingpin by changing the suspension hard point and tire steering angle in the early stage of suspension design.

[0027] Reference Figure 2 A method for verifying the performance of a virtual master seller includes the following steps: S1, Obtain tire position information and initial position information of double wishbone; S2, after the tire rotates, the updated position information of the double wishbone is calculated based on the tire position information and the initial position information of the double wishbone. The updated position information of the double wishbone is the new position of the double wishbone after the tire rotates. S3, calculate the virtual kingpin position information based on the double crossarm update position information; S4, calculate the virtual master pin performance information based on the virtual master pin location information.

[0028] Specifically, the tire position information in step S1 includes the tire swerve angle. and wheel center coordinates , refer to Figure 3 The initial position information of the double swing arms specifically includes the coordinates of the inner point A of the front upper swing arm. Coordinates of the outer point of the front upper swing arm B The coordinates of the inner point C of the upper rear swing arm Coordinates of the outer point D of the upper rear swing arm Coordinates of the inner point E of the front lower control arm Coordinates F of the outer point of the front lower control arm The coordinates of the inner point G and the outer point H of the rear lower control arm .

[0029] Reference Figure 3 and Figure 4 The double-arm position update information in step S2 includes the updated position information of the front upper swing arm, the rear upper swing arm, the front lower swing arm, and the rear lower swing arm. Step S2 includes the following four sub-steps: S21, based on the coordinates of the inner point of the front upper swing arm Coordinates of the outer point of the front upper swing arm and tire cornering Calculate the updated position information of the upper swing arm. The specific calculation method is as follows: The first step is to determine the coordinates of the inner point A and the outer point B of the front upper swing arm. Determine the direction vector, length, and initial angle of the front upper swing arm. The direction vector of the front upper swing arm is: The length of the front upper control arm is: The initial angle of the front upper control arm is selected as the initial angle of the front upper control arm in the top view, and the value is: The second step is based on the initial angle of the front upper control arm and the tire steering angle. Determine the updated angle of the front upper control arm Front upper swing arm angle update In this embodiment, the angle of the front upper control arm after turning in the top view is specifically as follows: The third step is to update the angle based on the front upper swing arm. Coordinates of the inner point A of the upper front swing arm Coordinates of the outer point of the front upper swing arm B The length of the front upper swing arm Calculate the updated position information of the front upper control arm. This updated position information is the vector of the front upper control arm after rotation around the outer point. First, update the angle of the front upper control arm... The vector of the upper front swing arm after rotation in the top view is calculated as follows: Secondly, the updated position information of the upper front swing arm is obtained as follows: S22, based on the coordinates of the inner point C of the rear upper swing arm Coordinates of the outer point D of the upper rear swing arm and tire cornering Calculate the updated position information of the rear upper swing arm. The calculation method for the updated position information of the rear upper swing arm is the same as that for the updated position information of the front upper swing arm in step S21, and will not be repeated here. The updated position information of the rear upper swing arm is: S23, based on the coordinates of the inner point E of the front lower control arm Coordinates F of the outer point of the front lower control arm and tire cornering The updated position information of the lower control arm before calculation is as follows: S24, based on the coordinates of the inner point G of the lower rear swing arm , coordinates of the outer point H of the rear lower control arm and tire cornering The calculated lower control arm position information is updated as follows: Furthermore, refer to Figure 3 and Figure 5 Step S3 specifically includes the following steps: S31, Update position information based on the aforementioned front upper control arm Update position information with the upper rear swing arm Calculate the virtual intersection point coordinates I. Specifically, the virtual intersection point coordinates I are the virtual intersection point of the front upper swing arm and the rear upper swing arm in the top view. The Z-direction coordinate is set as the average of the two outer points, i.e.: in, and Position information is updated by the front upper control arm. Update position information with the upper rear swing arm The vector coordinates are obtained; S32, Update position information based on the front lower control arm Coordinates I of the virtual intersection point Calculate the first plane information. Specifically, the plane formed by the virtual intersection point and the front lower control arm is the first plane, and the information of the first plane is as follows: S33, Update position information based on the rear lower control arm Coordinates of the virtual intersection point Calculate the second plane information. Specifically, the plane formed by the virtual intersection point and the rear lower control arm is the second plane, and the second plane information is as follows: S34, based on the first plane information With the second plane information Calculate the virtual kingpin location information. Specifically, the intersection of the first plane and the second plane is the virtual kingpin, therefore the virtual kingpin location information is: The virtual main sales location information consists of vertical coordinates and horizontal coordinates. and height coordinates composition.

[0030] Furthermore, the virtual kingpin performance information in step S4 includes the kingpin inclination angle, kingpin caster angle, and offset information between the kingpin and the wheel center. (Refer to...) Figure 6 Step S4 specifically includes the following steps: S41, the kingpin inclination angle is calculated based on the lateral coordinate and the height coordinate, which is: S42, calculate the kingpin inclination angle based on the longitudinal coordinate and the height coordinate, which is: S43, calculate the offset information based on the virtual kingpin position information and the wheel center coordinates. Specifically, the offset information includes longitudinal offset and lateral offset. The longitudinal offset represents the longitudinal offset of the virtual kingpin at the wheel center, and the lateral offset represents the lateral offset of the virtual kingpin at the wheel center. The steps for determining the offset information are as follows: The first step is to calculate the virtual coordinates of the kingpin in the wheel center height plane based on the virtual kingpin position information and the wheel center coordinates, which is: The second step is to calculate the longitudinal offset and the lateral offset based on the virtual coordinates and the wheel center coordinates. The longitudinal offset is the offset of the virtual kingpin in the longitudinal direction (X) at the wheel center, and is: The lateral offset is the lateral Y-offset of the virtual kingpin at the wheel center, and is: The implementation principle of the virtual kingpin performance verification method in this invention is as follows: In the initial design of a double-ball-joint double wishbone suspension, when changing the suspension hard point and tire steering, it is necessary to calculate the performance of the changed virtual kingpin. Through the virtual kingpin performance verification method in this invention, when the suspension hard point is changed, the position information of the double wishbone on the suspension is obtained and used as the initial position information of the double wishbone. When simulating tire steering, the corresponding tire position information is also obtained.

[0031] In the method of the present invention: First, using the coordinates of the inner point of the upper front swing arm from the initial position information of the double swing arms... Coordinates of the outer point of the front upper swing arm The tire angle in the tire position information is used as input to obtain the updated position information of the front upper control arm. ; using the coordinates of the inner point of the upper rear swing arm from the initial position information of the double horizontal arms Coordinates of the outer point of the upper rear swing arm And the tire swerve in the tire position information The updated position information of the upper swing arm is obtained as input. ; using the coordinates of the inner point of the front lower swing arm from the initial position information of the double horizontal arms Coordinates of the outer point of the front lower control arm And the tire swerve in the tire position information The updated position information of the front lower control arm is obtained as input. ; using the coordinates of the inner point of the rear lower swing arm from the initial position information of the double horizontal arms Coordinates of the outer point of the rear lower swing arm And the tire angle in the initial tire position information The updated lower control arm position information is obtained as input. .

[0032] Next, the position information of the upper swing arm is updated. Rear upper swing arm position information update The intersection points of the front and rear upper swing arms in the top view are calculated using parameters. The average value of these intersection points along the height is the virtual coordinate of the intersection points of the front and rear upper swing arms. .

[0033] Then, using the virtual intersection coordinates Front lower control arm position update information The first plane information is obtained by calculating the parameters. Using virtual intersection coordinates Rear lower control arm position information update The second plane information is obtained as a parameter. .

[0034] Then, using the information from the first plane... Second plane information The virtual main sales location information is calculated using this as input. .

[0035] Finally, based on the virtual sales location information This will generate virtual master performance information, including virtual master parameters and virtual master offset.

[0036] Based on the virtual primary sales performance verification method disclosed in the above embodiments, this invention also discloses a virtual primary sales performance verification system. Reference Figure 7 A verification system for virtual master sales performance includes a data acquisition module 8, a data processing module 9, and a data output module 10.

[0037] The data acquisition module 8 is used to acquire tire position information and double wishbone initial position information. In this embodiment, the tire position information and double wishbone initial position information obtained after changing the suspension hard point and tire steering angle need to be manually input by the user. In other embodiments, the suspension design software can also be accessed through an API data interface. When the user changes the suspension hard point and tire steering in the suspension design software, the data acquisition module 8 can automatically acquire the tire position information and double wishbone initial position information through the API data interface.

[0038] Data processing module 9, connected to data acquisition module 8, receives the tire position information and the initial position information of the double wishbone, and generates virtual kingpin performance information based on the virtual kingpin performance verification method described in the above embodiment. In this embodiment, data processing module 9 is configured as an Excel spreadsheet containing the calculation functions corresponding to the above calculation method. In other embodiments, data processing module 9 may also be configured as a computer-readable logic program corresponding to the above calculation method.

[0039] The data output module 10 is connected to the data processing module 9 and receives and outputs the virtual kingpin performance information. In this embodiment, the data output module 10 directly outputs the virtual kingpin performance information generated by the data processing module 9. In other embodiments, the data output module 10 can also be combined with suspension design software to visualize the virtual kingpin position information and virtual kingpin performance information, thereby facilitating developers to have a more intuitive understanding of the virtual kingpin performance.

[0040] Based on the virtual master sales performance verification system described in the above embodiments, this invention also proposes an electronic device, including: A processor, and a memory communicatively connected to the processor; the memory stores instructions executable by the processor, which are executed by the processor to enable the processor to perform a virtual primary performance verification method as described in the above embodiments.

[0041] This invention also discloses a computer-readable storage medium.

[0042] A computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the virtual master performance verification method described in any one of the preceding claims. The computer-readable storage medium may include any entity or device capable of carrying a computer program, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable storage medium may include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0043] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0044] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for verifying the performance of a virtual kingpin, applied to a double wishbone suspension, wherein the double wishbone suspension includes a front upper control arm, a rear upper control arm, a front lower control arm, and a rear lower control arm, characterized in that, The method includes: Obtain tire position information and initial position information of double wishbone. The tire position information includes tire rotation angle and wheel center coordinates. The initial position information of double wishbone includes the coordinates of the inner point of the front upper swing arm, the outer point of the front upper swing arm, the inner point of the rear upper swing arm, the outer point of the rear upper swing arm, the inner point of the front lower swing arm, the outer point of the front lower swing arm, the inner point of the rear lower swing arm, and the outer point of the rear lower swing arm. After the tire rotates, the updated position information of the double wishbone is calculated based on the tire position information and the initial position information of the double wishbone. The updated position information of the double wishbone is the new position of the double wishbone after the tire rotates. The updated position information of the double wishbone includes the updated position information of the front upper swing arm, the updated position information of the rear upper swing arm, the updated position information of the front lower swing arm, and the updated position information of the rear lower swing arm. The virtual kingpin position information is calculated based on the updated position information of the double wishbone, and the virtual kingpin position information consists of longitudinal coordinates, lateral coordinates, and height coordinates. The steps for calculating the virtual kingpin position information include: calculating the coordinates of a virtual intersection point based on the updated position information of the front upper control arm and the updated position information of the rear upper control arm; calculating first plane information based on the updated position information of the front lower control arm and the coordinates of the virtual intersection point; calculating second plane information based on the updated position information of the rear lower control arm and the coordinates of the virtual intersection point; and calculating the virtual kingpin position information based on the first plane information and the second plane information. And based on the virtual kingpin position information, virtual kingpin performance information is generated, the virtual kingpin performance information including kingpin inclination angle, kingpin caster angle, and offset information between the kingpin and the wheel center; wherein, the step of generating virtual kingpin performance information includes: calculating the kingpin inclination angle based on the lateral coordinate and the height coordinate; calculating the kingpin caster angle based on the longitudinal coordinate and the height coordinate; and calculating the offset information based on the virtual kingpin position information and the wheel center coordinate.

2. The method for verifying the performance of a virtual master sales system according to claim 1, characterized in that: The step of calculating the updated position information of the double wishbone based on the tire position information and the initial position information of the double wishbone after the tire rotates includes: calculating the updated position information of the front upper swing arm based on the inner point coordinates of the front upper swing arm, the outer point coordinates of the front upper swing arm, and the tire rotation angle. The updated position information of the rear upper control arm is calculated based on the coordinates of the inner point of the rear upper control arm, the coordinates of the outer point of the rear upper control arm, and the tire rotation angle. The updated position information of the front lower control arm is calculated based on the coordinates of the inner point of the front lower control arm, the coordinates of the outer point of the front lower control arm, and the tire rotation angle. The updated position information of the rear lower control arm is calculated based on the coordinates of the inner point of the rear lower control arm, the coordinates of the outer point of the rear lower control arm, and the tire rotation angle.

3. The method for verifying the performance of a virtual primary sales entity according to claim 2, characterized in that, The calculation of the updated position information of the front upper control arm based on the coordinates of the inner point of the front upper control arm, the coordinates of the outer point of the front upper control arm, and the tire rotation angle includes: The direction vector, length, and initial angle of the front upper swing arm are determined based on the coordinates of the inner point and the outer point of the front upper swing arm. The updated angle of the front upper control arm is determined based on the initial angle of the front upper control arm and the tire rotation angle. The updated position information of the front upper swing arm is calculated based on the updated angle of the front upper swing arm, the coordinates of the inner point of the front upper swing arm, the coordinates of the outer point of the front upper swing arm, and the length of the front upper swing arm. The calculation of the updated position information of the rear upper control arm based on the coordinates of the inner point of the rear upper control arm, the coordinates of the outer point of the rear upper control arm, and the tire rotation angle includes: The rear upper swing arm direction vector, rear upper swing arm length, and rear upper swing arm initial angle are determined based on the coordinates of the inner point of the rear upper swing arm and the coordinates of the outer point of the rear upper swing arm. The updated angle of the rear upper control arm is determined based on the initial angle of the rear upper control arm and the tire rotation angle. The updated position information of the rear upper swing arm is calculated based on the updated angle of the rear upper swing arm, the coordinates of the inner point of the rear upper swing arm, the coordinates of the outer point of the rear upper swing arm, and the length of the rear upper swing arm. The calculation of the updated position information of the front lower control arm based on the coordinates of the inner point of the front lower control arm, the coordinates of the outer point of the front lower control arm, and the tire rotation angle includes: The direction vector, length, and initial angle of the front lower control arm are determined based on the coordinates of the inner point and the outer point of the front lower control arm. The updated angle of the front lower control arm is determined based on the initial angle of the front lower control arm and the tire rotation angle. The updated position information of the front lower control arm is calculated based on the updated angle of the front lower control arm, the coordinates of the inner point of the front lower control arm, the coordinates of the outer point of the front lower control arm, and the length of the front lower control arm. The calculation of the updated position information of the rear lower control arm based on the coordinates of the inner point of the rear lower control arm, the coordinates of the outer point of the rear lower control arm, and the tire rotation angle includes: The rear lower control arm direction vector, rear lower control arm length, and rear lower control arm initial angle are determined based on the coordinates of the inner point and the outer point of the rear lower control arm. The updated angle of the rear lower control arm is determined based on the initial angle of the rear lower control arm and the tire rotation angle. The updated position information of the rear lower control arm is calculated based on the updated angle of the rear lower control arm, the coordinates of the inner point of the rear lower control arm, the coordinates of the outer point of the rear lower control arm, and the length of the rear lower control arm.

4. The method for verifying the performance of a virtual primary sales entity according to claim 1, characterized in that: The offset information includes longitudinal offset, which represents the longitudinal offset of the kingpin at the wheel center, and lateral offset, which represents the lateral offset of the kingpin at the wheel center. The steps for calculating the offset information based on the virtual kingpin position information and the wheel center coordinates include: The virtual coordinates of the kingpin in the wheel center height plane are calculated based on the virtual kingpin position information and the wheel center coordinates; The longitudinal offset and the lateral offset are calculated based on the virtual coordinates and the wheel center coordinates.

5. A verification system for the performance of a virtual primary market, characterized in that, include: The data acquisition module is used to acquire tire position information and initial position information of the double wishbone. The data processing module is connected to the data acquisition module, receives the tire position information and the initial position information of the double wishbone, and generates virtual kingpin performance information based on the virtual kingpin performance verification method as described in any one of claims 1-4. The data output module is connected to the data processing module and receives and outputs the virtual master sales performance information.

6. An electronic device, characterized in that, include: processor; A memory communicatively connected to the processor stores instructions executable by the processor, which are executed by the processor to enable the processor to perform a method for verifying the performance of a virtual primary drive according to any one of claims 1-4.

7. A computer-readable storage medium storing computer instructions that, when executed by a processor, implement a method for verifying the performance of a virtual masterbatch as described in any one of claims 1-4.

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