Calculation Method, Device, Equipment and Readable Storage Medium for Kingpin Axis Related Parameters

Abstract

The present invention provides a method, device, equipment and readable storage medium for calculating relevant parameters of a kingpin axis. The method includes: obtaining the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, and the first included angle between the front control arm rod system or the rear control arm rod system and the vertical direction in a suspension system; calculating the kingpin offset, kingpin inclination and scrub radius based on the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, the first included angle, the wheel center coordinates and the tire radius. Through the present invention, even if the design of the suspension system changes, it is no longer necessary to re-establish a suspension kinematic model, greatly improving the efficiency of obtaining relevant parameters of the kingpin axis and solving the problem of low efficiency of the current solution for determining relevant parameters of the virtual kingpin axis.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive suspensions, and particularly to a method, device, equipment and readable storage medium for calculating parameters related to the kingpin axis. Background Art

[0002] During the development of an automobile, a reasonable design of the automotive suspension is the key to ensuring driving safety and riding comfort of the vehicle. The parameters related to the kingpin are the key indicators for judging the rationality of the automotive suspension design. Therefore, how to quickly and accurately determine the parameters related to the virtual kingpin axis is an important foundation for vehicle development work and is a technical problem that urgently needs to be solved at present.

[0003] In the prior art, a suspension kinematic model is established through a dynamic simulation analysis software, and then a suspension system simulation analysis is performed on the suspension kinematic model, so as to read the parameter information related to the kingpin axis on the post-processing interface. However, once the design of the suspension system changes, it is necessary to re-establish the dynamic model and perform the simulation analysis again. Moreover, the process of establishing the suspension kinematic model is relatively complex, resulting in a low efficiency of reading the parameter information related to the kingpin axis. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and readable storage medium for calculating parameters related to the kingpin axis, aiming to solve the problem of low efficiency of the current solution for determining the parameters related to the virtual kingpin axis.

[0005] In a first aspect, the present invention provides a method for calculating parameters related to the kingpin axis, and the method for calculating parameters related to the kingpin axis includes:

[0006] Obtain the coordinates of both ends of the front control arm system and the coordinates of both ends of the rear control arm system in the suspension system, and the first angle between the front control arm system or the rear control arm system and the vertical direction, where the control arm system closer to the vehicle head is the front control arm system, and the control arm system closer to the vehicle tail is the rear control arm system;

[0007] Calculate the first intersection point coordinates of the front control arm system and the rear control arm system based on the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first angle;

[0008] After the front control arm system or the rear control arm system rotates, execute the step of obtaining the coordinates of both ends of the front control arm system and the coordinates of both ends of the rear control arm system in the suspension system, and the first angle between the front control arm system or the rear control arm system and the vertical direction, and calculate the second intersection point coordinates of the front control arm system and the rear control arm system;

[0009] The kingpin offset, kingpin inclination and tire wear radius are calculated based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate and the tire radius.

[0010] Optionally, the coordinates at both ends of the front control arm linkage include a first coordinate near the other wheel end and a second coordinate far from the other wheel end, the coordinates at both ends of the rear control arm linkage include a third coordinate near the other wheel end and a fourth coordinate far from the other wheel end, the first angle is the angle between the front control arm linkage and the vertical direction, and the step of calculating the first intersection coordinate of the front control arm linkage and the rear control arm linkage based on the coordinates at both ends of the front control arm linkage, the coordinates at both ends of the rear control arm linkage and the first angle includes:

[0011] Based on the coordinates at both ends of the front control arm linkage and the coordinates at both ends of the rear control arm linkage, the second angle between the connection line formed by the first coordinate and the third coordinate and the vertical direction and the distance between the first coordinate and the third coordinate are calculated by using the distance formula between two points and the trigonometric theorem;

[0012] According to the angle between the front control arm linkage and the vertical direction, the second angle, the distance between the first coordinate and the third coordinate, and the first coordinate, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated by using the trigonometric theorem.

[0013] Optionally, the coordinates at both ends of the front control arm linkage include a first coordinate near the other wheel end and a second coordinate far from the other wheel end, the coordinates at both ends of the rear control arm linkage include a third coordinate near the other wheel end and a fourth coordinate far from the other wheel end, the first angle is the angle between the rear control arm linkage and the vertical direction, and the step of calculating the first intersection coordinate of the front control arm linkage and the rear control arm linkage based on the coordinates at both ends of the front control arm linkage, the coordinates at both ends of the rear control arm linkage and the first angle includes:

[0014] According to the coordinates at both ends of the front control arm linkage and the coordinates at both ends of the rear control arm linkage, the second angle between the connection line formed by the first coordinate and the third coordinate and the vertical direction, the third angle between the connection line formed by the first coordinate and the second coordinate and the connection line formed by the first coordinate and the fourth coordinate, the fourth angle between the connection line formed by the first coordinate and the fourth coordinate and the vertical direction, and the distance between the first coordinate and the third coordinate are calculated by using the distance formula between two points and the trigonometric theorem;

[0015] According to the angle between the rear control arm linkage and the vertical direction, the second angle, the third angle, the fourth angle, the distance between the first coordinate and the third coordinate, and the first coordinate, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated by using the trigonometric theorem.

[0016] Optionally, the step of calculating the kingpin offset, kingpin inclination and tire wear radius based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate and the tire radius includes:

[0017] Calculating the straight line equation of the kingpin axis based on the first intersection coordinate and the second intersection coordinate;

[0018] Calculating the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset;

[0019] Calculating the kingpin inclination based on the first intersection coordinate and the second intersection coordinate through the trigonometric theorem;

[0020] Calculating the tire wear radius based on the tire radius, the kingpin inclination and the kingpin offset through the trigonometric theorem.

[0021] Optionally, after the step of calculating the kingpin offset, kingpin inclination and tire wear radius based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate and the tire radius, it includes:

[0022] Detecting whether the kingpin offset is within a first preset range, whether the kingpin inclination is within a second preset range, and whether the tire wear radius is within a third preset range;

[0023] If the kingpin offset is within the first preset range, the kingpin inclination is within the second preset range, and the tire wear radius is within the third preset range, it is determined that the vehicle suspension design is reasonable.

[0024] In a second aspect, the present invention also provides a device for calculating parameters related to the kingpin axis, and the device for calculating parameters related to the kingpin axis includes:

[0025] An acquisition module, configured to acquire the coordinates of both ends of the front control arm system and the coordinates of both ends of the rear control arm system in the suspension system, and a first included angle between the front control arm system or the rear control arm system and the vertical direction, wherein the control arm system close to the vehicle head is the front control arm system, and the control arm system close to the vehicle tail is the rear control arm system;

[0026] A first calculation module, configured to calculate the first intersection coordinate of the front control arm system and the rear control arm system based on the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first included angle;

[0027] A loop module, configured to, after the current control arm system or the rear control arm system rotates, execute the step of acquiring the coordinates of both ends of the front control arm system and the rear control arm system in the suspension system, and a first included angle between the front control arm system or the rear control arm system and the vertical direction, and calculate the second intersection coordinate of the front control arm system and the rear control arm system;

[0028] A second calculation module, configured to calculate a kingpin offset, a caster angle, and a scrub radius based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate, and the tire radius.

[0029] Optionally, the second calculation module is configured to:

[0030] Calculate the straight-line equation of the kingpin axis based on the first intersection coordinate and the second intersection coordinate;

[0031] Calculate the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset;

[0032] Calculate the caster angle based on the first intersection coordinate and the second intersection coordinate through the trigonometric theorem;

[0033] Calculate the scrub radius based on the tire radius, the caster angle, and the kingpin offset through the trigonometric theorem.

[0034] Optionally, the kingpin axis related parameter calculation device further includes a determination module, configured to:

[0035] Detect whether the kingpin offset is within a first preset range, whether the caster angle is within a second preset range, and whether the scrub radius is within a third preset range;

[0036] If the kingpin offset is within the first preset range, the caster angle is within the second preset range, and the scrub radius is within the third preset range, it is determined that the automotive suspension design is reasonable.

[0037] In a third aspect, the present invention further provides a kingpin axis related parameter calculation device, where the kingpin axis related parameter calculation device includes a processor, a memory, and a kingpin axis related parameter calculation program stored on the memory and executable by the processor. When the kingpin axis related parameter calculation program is executed by the processor, the steps of the kingpin axis related parameter calculation method as described above are implemented.

[0038] In a fourth aspect, the present invention further provides a readable storage medium, on which a kingpin axis related parameter calculation program is stored. When the kingpin axis related parameter calculation program is executed by a processor, the steps of the kingpin axis related parameter calculation method as described above are implemented.

[0039] In the present invention, the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, and the first included angle between the front control arm rod system or the rear control arm rod system and the vertical direction in the suspension system are obtained, where the control arm rod system closer to the vehicle head is the front control arm rod system, and the control arm rod system closer to the vehicle tail is the rear control arm rod system; based on the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, and the first included angle, the first intersection point coordinates of the front control arm rod system and the rear control arm rod system are calculated; after the front control arm rod system or the rear control arm rod system rotates, the steps of obtaining the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, and the first included angle between the front control arm rod system or the rear control arm rod system and the vertical direction in the suspension system are executed, and the second intersection point coordinates of the front control arm rod system and the rear control arm rod system are calculated; based on the first intersection point coordinates, the second intersection point coordinates, the wheel center coordinates, and the tire radius, the kingpin offset, the kingpin inclination, and the tire wear radius are calculated. Through the present invention, only by obtaining the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, the first included angle between the front control arm rod system or the rear control arm rod system and the vertical direction, the wheel center coordinates, and the tire radius in the suspension system can the relevant parameters of the kingpin axis, that is, the kingpin offset, the kingpin inclination, and the tire wear radius, be calculated. Therefore, even if the design of the suspension system changes, it is no longer necessary to re - establish the suspension kinematic model, which greatly improves the efficiency of obtaining the relevant parameters of the kingpin axis and solves the problem of low efficiency in the current solutions for determining the relevant parameters of the virtual kingpin axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic hardware structure diagram of the device for calculating the relevant parameters of the kingpin axis involved in the solution of the embodiment of the present invention;

[0041] Figure 2 It is a schematic flowchart of the first embodiment of the method for calculating the relevant parameters of the kingpin axis of the present invention;

[0042] Figure 3 It is a schematic projection diagram of the suspension system in the method for calculating the relevant parameters of the kingpin axis of the present invention;

[0043] Figure 4 It is a schematic diagram of the suspension system in the method for calculating the relevant parameters of the kingpin axis of the present invention;

[0044] Figure 5 For Figure 2 It is a detailed flowchart of step S40 in

[0045] Figure 6 It is a schematic diagram of the functional modules of an embodiment of the pricing device for the special drug insurance plan of the present invention.

[0046] The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] In a first aspect, an apparatus for calculating kingpin axis related parameters according to an embodiment of the present invention may be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0049] Refer to Figure 1 , Figure 1 FIG. is a schematic hardware structure diagram of an apparatus for calculating kingpin axis related parameters involved in the solution of an embodiment of the present invention. In an embodiment of the present invention, the apparatus for calculating kingpin axis related parameters may include a processor 1001 (such as a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art can understand that Figure 1 the hardware structure shown in FIG. does not constitute a limitation to the present invention, and may include more or fewer components than shown, or combine some components, or have different component arrangements.

[0050] Continuing to refer to Figure 1 , Figure 1 in FIG., the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a program for calculating kingpin axis related parameters. Among them, the processor 1001 may call the program for calculating kingpin axis related parameters stored in the memory 1005 and execute the method for calculating kingpin axis related parameters provided by an embodiment of the present invention.

[0051] In a second aspect, an embodiment of the present invention provides a method for calculating kingpin axis related parameters.

[0052] In one embodiment, refer to Figure 2 ,Figure 2 This is a schematic flowchart of the first embodiment of the calculation method for the relevant parameters of the kingpin axis of the present invention. As Figure 2 shown, the calculation method for the relevant parameters of the kingpin axis includes:

[0053] Step S10: Obtain the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, and the first angle between the front control arm rod system or the rear control arm rod system and the vertical direction in the suspension system. Among them, the control arm rod system close to the vehicle head is the front control arm rod system, and the control arm rod system close to the vehicle tail is the rear control arm rod system;

[0054] In this embodiment, a reference coordinate system of the suspension system is established according to the designed suspension scheme. Then, the projection diagram of the suspension system can be obtained by the method of top view projection, and the coordinates of both ends of the front control arm rod system close to the vehicle head, the coordinates of both ends of the rear control arm rod system close to the vehicle tail, and the first angle between the front control arm rod system or the rear control arm rod system and the vertical direction in the suspension system can be obtained through the reference coordinate system of the suspension system and the projection diagram of the suspension system. Among them, referring to Figure 3 , Figure 3 This is a schematic projection diagram of the suspension system in the calculation method for the relevant parameters of the kingpin axis of the present invention. As Figure 3 shown, BD is the front control arm rod system in the suspension system. The coordinates of both ends of the front control arm rod system are the coordinates of point B and point D. AC is the rear control arm rod system in the suspension system. The coordinates of both ends of the rear control arm rod system are the coordinates of point A and point C. The first angle is the angle ψ between the front control arm rod system BD and the vertical direction or the angle α between the rear control arm rod system AC and the vertical direction.

[0055] Step S20: Calculate the first intersection point coordinates of the front control arm rod system and the rear control arm rod system based on the coordinates of both ends of the front control arm rod system, the coordinates of both ends of the rear control arm rod system, and the first angle;

[0056] In this embodiment, based on the coordinates of both ends of the front control arm rod system, that is, the coordinates of point B and point D, the coordinates of both ends of the rear control arm rod system, that is, the coordinates of point A and point C, and the angle ψ or the angle α, the first intersection point coordinates of the front control arm rod system and the rear control arm rod system can be calculated through the trigonometric theorem.

[0057] Further, in one embodiment, the coordinates of both ends of the front control arm rod system include the first coordinate close to the other wheel end and the second coordinate far from the other wheel end. The coordinates of both ends of the rear control arm rod system include the third coordinate close to the other wheel end and the fourth coordinate far from the other wheel end. The first angle is the angle between the front control arm rod system and the vertical direction. The step S20 includes:

[0058] Based on the coordinates at both ends of the front control arm linkage and the coordinates at both ends of the rear control arm linkage, the second included angle between the connection line formed by the first coordinate and the third coordinate and the vertical direction and the distance between the first coordinate and the third coordinate are calculated through the distance formula between two points and the trigonometric theorem;

[0059] According to the included angle between the front control arm linkage and the vertical direction, the second included angle, the distance between the first coordinate and the third coordinate, and the first coordinate, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated through the trigonometric theorem.

[0060] In this embodiment, with reference to Figure 4 , Figure 4 is a schematic diagram of the suspension system in the calculation method of the kingpin axis related parameters of the present invention. As Figure 4 shown, the coordinates at both ends of the front control arm linkage BD include the first coordinate near the other wheel end, that is, the coordinate of point B, and the second coordinate far from the other wheel end, that is, the coordinate of point D. The coordinates at both ends of the rear control arm linkage AC include the third coordinate near the other wheel end, that is, the coordinate of point A, and the fourth coordinate far from the other wheel end, that is, the coordinate of point C. If the first included angle is the included angle ψ between the front control arm linkage BD and the vertical direction, then continue to refer to Figure 3 , first based on the coordinates of point A, point B, point C, and point D, the distances AB between point A and point B, BD between point B and point D, AD between point A and point D, CD between point C and point D, and AC between point A and point C are calculated through the distance formula between two points, and then based on the coordinates of point A and point B, the second included angle θ between the connection line formed by the first coordinate and the third coordinate and the vertical direction is calculated through the trigonometric theorem, where where (xa, ya) are the coordinates of point A and (xb, yb) are the coordinates of point B.

[0061] Then, according to the included angle ψ between the front control arm linkage and the vertical direction, the second included angle θ, the distance AB between the first coordinate and the third coordinate, and the first coordinate (xb, yb), the first intersection coordinate (xo 1 , yo 1 ) of the front control arm linkage and the rear control arm linkage is calculated through the trigonometric theorem, where (xo 1 , yo 1 ) are the coordinates of the first intersection point O 1 ,

[0062]

[0063] Further, in one embodiment, the coordinates of both ends of the front control arm linkage include a first coordinate near the other wheel end and a second coordinate far from the other wheel end. The coordinates of both ends of the rear control arm linkage include a third coordinate near the other wheel end and a fourth coordinate far from the other wheel end. The first included angle is the included angle between the rear control arm linkage and the vertical direction. The step S20 includes:

[0064] According to the coordinates of both ends of the front control arm linkage and the coordinates of both ends of the rear control arm linkage, the second included angle between the line connecting the first coordinate and the third coordinate and the vertical direction, the third included angle between the line connecting the first coordinate and the second coordinate and the line connecting the first coordinate and the fourth coordinate, the fourth included angle between the line connecting the first coordinate and the fourth coordinate and the vertical direction, and the distance between the first coordinate and the third coordinate are calculated through the distance formula between two points and the trigonometric theorem;

[0065] According to the included angle between the rear control arm linkage and the vertical direction, the second included angle, the third included angle, the fourth included angle, the distance between the first coordinate and the third coordinate, and the first coordinate, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated through the trigonometric theorem.

[0066] In this embodiment, continue to refer to Figure 4 , the coordinates of both ends of the front control arm linkage BD include the first coordinate near the other wheel end, that is, the coordinate of point B, and the second coordinate far from the other wheel end, that is, the coordinate of point D. The coordinates of both ends of the rear control arm linkage AC include the third coordinate near the other wheel end, that is, the coordinate of point A, and the fourth coordinate far from the other wheel end, that is, the coordinate of point C. If the first included angle is the included angle α between the rear control arm linkage AC and the vertical direction, then continue to refer to Figure 3 , first, based on the coordinates of point A, point B, point C, and point D, the distance AB between the first coordinate and the third coordinate, the distance BC between the first coordinate and the fourth coordinate, the distance BD between the first coordinate and the second coordinate, and the distance CD between the third coordinate and the fourth coordinate are calculated through the distance formula between two points. Then, the second included angle θ between the line connecting the first coordinate and the third coordinate AB and the vertical direction, the third included angle δ between the line connecting the first coordinate and the second coordinate BD and the line connecting the first coordinate and the fourth coordinate BC, and the fourth included angle γ between the line connecting the first coordinate and the fourth coordinate BC and the vertical direction are calculated through the trigonometric theorem, where (xc, yc) is the coordinate of point C.

[0067] Then, according to the included angle α between the rear control arm linkage AC and the vertical direction, the second included angle θ, the third included angle δ, the fourth included angle γ, the distance AB between the first coordinate and the third coordinate, and the first coordinate (xb, yb), the first intersection coordinate (xo′ of the front control arm linkage and the rear control arm linkage is calculated through the trigonometric theorem.1 , yo 1 ′), where, (xo′ 1 , yo 1 ′) is the coordinate of the first intersection point O 1 ′, where,

[0068]

[0069] Step S30, after the current control arm system or the rear control arm system rotates, perform the steps of obtaining the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first included angle between the front control arm system or the rear control arm system and the vertical direction in the suspension system, and calculate the second intersection point coordinates of the front control arm system and the rear control arm system;

[0070] In this embodiment, after the current control arm system rotates, perform the steps of obtaining the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first included angle between the front control arm system or the rear control arm system and the vertical direction in the suspension system, and calculate the second intersection point coordinates O 2 . It is easy to think that when the current control arm system rotates, when calculating the second intersection point coordinates, the first included angle is the included angle between the front control arm system and the vertical direction.

[0071] Or, when the rear control arm system rotates, perform the steps of obtaining the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first included angle between the front control arm system or the rear control arm system and the vertical direction in the suspension system, and calculate the second intersection point coordinates O 2 ′. It is easy to think that when the rear control arm system rotates, when calculating the second intersection point coordinates, the first included angle is the included angle between the rear control arm system and the vertical direction. The embodiment of calculating the second intersection point coordinates can refer to the embodiment of calculating the first intersection point coordinates, which will not be elaborated here.

[0072] Step S40, calculate the kingpin offset, kingpin inclination, and scrub radius based on the first intersection point coordinates, the second intersection point coordinates, the wheel center coordinates, and the tire radius.

[0073] In this embodiment, based on the first intersection point coordinates, the second intersection point coordinates, and the wheel center coordinates, the kingpin offset can be calculated, that is, the distance from the wheel center point to the straight line where the first intersection point and the second intersection point are located. Based on the first intersection point coordinates, the second intersection point coordinates, and the tire radius, the kingpin inclination and the scrub radius can be calculated.

[0074] Further, in an embodiment, refer to Figure 5 , Figure 5 is Figure 2 the detailed flowchart of step S40 inFigure 5 As shown in Figure 5 , step S40 includes:

[0075] Step S401, calculating the straight-line equation of the kingpin axis based on the first intersection coordinate and the second intersection coordinate;

[0076] Step S402, calculating the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset;

[0077] Step S403, calculating the kingpin inclination angle based on the first intersection coordinate and the second intersection coordinate through the trigonometric theorem;

[0078] Step S404, calculating the wear radius of the tire based on the tire radius, the kingpin inclination angle, and the kingpin offset through the trigonometric theorem.

[0079] In this embodiment, substituting the first intersection coordinate and the second intersection coordinate into the two-point form straight-line equation, the straight-line equation of the kingpin axis a*x + b*y - c = 0 is calculated, that is, the straight-line equation of the line where the first intersection point O 1 and the second intersection point O2 are located, where a, b, and c are the coefficients of the straight-line equation of the kingpin axis.

[0080] Based on the wheel center coordinate and the straight-line equation of the kingpin axis, calculating the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset s, where (xw, yw) is the wheel center coordinate.

[0081] Substituting the first intersection coordinate and the second intersection coordinate into the formula Calculating the kingpin inclination angle β through the trigonometric theorem, where (xo 1 , yo 1 ) is the first intersection coordinate, and (xo 2 , yo 2 ) is the second intersection coordinate.

[0082] Based on the tire radius, the kingpin inclination angle, and the kingpin offset, calculating the wear radius r of the tire through the trigonometric theorem, where R 0 represents the tire radius.

[0083] In this embodiment, the coordinates of both ends of the front control arm linkage, the coordinates of both ends of the rear control arm linkage, and the first angle between the front control arm linkage or the rear control arm linkage and the vertical direction in the suspension system are obtained, where the control arm linkage closer to the vehicle head is the front control arm linkage, and the control arm linkage closer to the vehicle tail is the rear control arm linkage; based on the coordinates of both ends of the front control arm linkage, the coordinates of both ends of the rear control arm linkage, and the first angle, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated; after the front control arm linkage or the rear control arm linkage rotates, the steps of obtaining the coordinates of both ends of the front control arm linkage, the coordinates of both ends of the rear control arm linkage, and the first angle between the front control arm linkage or the rear control arm linkage and the vertical direction in the suspension system are executed, and the second intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated; based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate, and the tire radius, the kingpin offset, the kingpin inclination, and the tire wear radius are calculated. Through this embodiment, only by obtaining the coordinates of both ends of the front control arm linkage, the coordinates of both ends of the rear control arm linkage, the first angle between the front control arm linkage or the rear control arm linkage and the vertical direction, the wheel center coordinate, and the tire radius in the suspension system can the parameters related to the kingpin axis, that is, the kingpin offset, the kingpin inclination, and the tire wear radius, be calculated. Therefore, even if the design of the suspension system changes, it is no longer necessary to re-establish the suspension kinematic model, greatly improving the efficiency of obtaining the parameters related to the kingpin axis and solving the problem of the low efficiency of the current solution for determining the parameters related to the virtual kingpin axis.

[0084] Further, in one embodiment, after step S40, it includes:

[0085] Detect whether the kingpin offset is within a first preset range, whether the kingpin inclination is within a second preset range, and whether the tire wear radius is within a third preset range;

[0086] If the kingpin offset is within the first preset range, the kingpin inclination is within the second preset range, and the tire wear radius is within the third preset range, it is determined that the design of the vehicle suspension is reasonable.

[0087] In this embodiment, after obtaining the parameters related to the kingpin axis, that is, the kingpin offset, the kingpin inclination, and the tire radius, it is detected whether the kingpin offset is within the first preset range, whether the kingpin inclination is within the second preset range, and whether the tire wear radius is within the third preset range.

[0088] If the kingpin offset is within the first preset range, the kingpin inclination is within the second preset range, and the tire wear radius is within the third preset range, it is determined that the design of the vehicle suspension is reasonable. Further, through the kingpin offset, the kingpin inclination, and the tire radius, it is also possible to quickly predict the tire wear condition during vehicle driving and the performance of the steering wheel returning to the straight position.

[0089] If the kingpin offset is not within the first preset range and / or the caster angle is not within the second preset range and / or the tire wear radius is not within the third preset range, it is determined that the automotive suspension design is unreasonable. Then, the positions of the front control arm linkage and the rear control arm linkage in the suspension system are readjusted, and the kingpin axis related parameters are recalculated based on the adjusted positions of the front control arm linkage and the rear control arm linkage in the suspension system.

[0090] In a third aspect, an embodiment of the present invention further provides a device for calculating kingpin axis related parameters.

[0091] In one embodiment, referring to Figure 6 , Figure 6 is a schematic diagram of the functional modules of an embodiment of the pricing device for the special drug insurance plan of the present invention. As Figure 6 shown, the device for calculating kingpin axis related parameters includes:

[0092] An acquisition module 10, configured to acquire the coordinates of both ends of the front control arm linkage in the suspension system, the coordinates of both ends of the rear control arm linkage, and the first angle between the front control arm linkage or the rear control arm linkage and the vertical direction, where the control arm linkage closer to the vehicle head is the front control arm linkage, and the control arm linkage closer to the vehicle tail is the rear control arm linkage;

[0093] A first calculation module 20, configured to calculate the first intersection point coordinates of the front control arm linkage and the rear control arm linkage based on the coordinates of both ends of the front control arm linkage, the coordinates of both ends of the rear control arm linkage, and the first angle;

[0094] A loop module 30, configured to, after the current control arm linkage or the rear control arm linkage rotates, execute the steps of acquiring the coordinates of both ends of the front control arm linkage in the suspension system, the coordinates of both ends of the rear control arm linkage, and the first angle between the front control arm linkage or the rear control arm linkage and the vertical direction, and calculate the second intersection point coordinates of the front control arm linkage and the rear control arm linkage;

[0095] A second calculation module 40, configured to calculate the kingpin offset, the caster angle, and the tire wear radius based on the first intersection point coordinates, the second intersection point coordinates, the wheel center coordinates, and the tire radius.

[0096] Further, in one embodiment, the coordinates of both ends of the front control arm linkage include a first coordinate closer to the other wheel end and a second coordinate farther from the other wheel end, the coordinates of both ends of the rear control arm linkage include a third coordinate closer to the other wheel end and a fourth coordinate farther from the other wheel end, the first angle is the angle between the front control arm linkage and the vertical direction, and the first calculation module 20 is configured to:

[0097] Based on the coordinates of both ends of the front control arm linkage and the coordinates of both ends of the rear control arm linkage, the second included angle between the line connecting the first coordinate and the third coordinate and the vertical direction and the distance between the first coordinate and the third coordinate are calculated through the distance formula between two points and the trigonometric theorem;

[0098] According to the included angle between the front control arm linkage and the vertical direction, the second included angle, the distance between the first coordinate and the third coordinate, and the first coordinate, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated through the trigonometric theorem.

[0099] Further, in an embodiment, the coordinates of both ends of the front control arm linkage include a first coordinate close to the other wheel end and a second coordinate far from the other wheel end, the coordinates of both ends of the rear control arm linkage include a third coordinate close to the other wheel end and a fourth coordinate far from the other wheel end, the first included angle is the included angle between the rear control arm linkage and the vertical direction, and the first calculation module 20 is configured to:

[0100] According to the coordinates of both ends of the front control arm linkage and the coordinates of both ends of the rear control arm linkage, the second included angle between the line connecting the first coordinate and the third coordinate and the vertical direction, the third included angle between the line connecting the first coordinate and the second coordinate and the line connecting the first coordinate and the fourth coordinate, the fourth included angle between the line connecting the first coordinate and the fourth coordinate and the vertical direction, and the distance between the first coordinate and the third coordinate are calculated through the distance formula between two points and the trigonometric theorem;

[0101] According to the included angle between the rear control arm linkage and the vertical direction, the second included angle, the third included angle, the fourth included angle, the distance between the first coordinate and the third coordinate, and the first coordinate, the first intersection coordinate of the front control arm linkage and the rear control arm linkage is calculated through the trigonometric theorem.

[0102] Further, in an embodiment, the second calculation module 40 is configured to:

[0103] Calculate the straight-line equation of the kingpin axis based on the first intersection coordinate and the second intersection coordinate;

[0104] Calculate the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset;

[0105] Calculate the kingpin inclination angle based on the first intersection coordinate and the second intersection coordinate through the trigonometric theorem;

[0106] Calculate the wear radius based on the tire radius, the kingpin inclination angle, and the kingpin offset through the trigonometric theorem.

[0107] Further, in an embodiment, the kingpin axis related parameter calculation device further includes a determination module, configured to:

[0108] Detect whether the kingpin offset is within a first preset range, whether the kingpin inclination angle is within a second preset range, and whether the tire wear radius is within a third preset range;

[0109] If the kingpin offset is within the first preset range, the kingpin inclination angle is within the second preset range, and the tire wear radius is within the third preset range, it is determined that the automotive suspension design is reasonable.

[0110] Among them, the functional implementation of each module in the above kingpin axis related parameter calculation device corresponds to each step in the above kingpin axis related parameter calculation method embodiment, and its function and implementation process will not be elaborated here one by one.

[0111] Fourthly, an embodiment of the present invention further provides a readable storage medium.

[0112] A kingpin axis related parameter calculation program is stored on the readable storage medium of the present invention. When the kingpin axis related parameter calculation program is executed by a processor, the steps of the kingpin axis related parameter calculation method as described above are implemented.

[0113] Among them, the method implemented when the kingpin axis related parameter calculation program is executed can refer to each embodiment of the kingpin axis related parameter calculation method of the present invention, and will not be elaborated here.

[0114] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0115] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0116] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present invention.

[0117] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A method for calculating the parameters related to the kingpin axis, characterized in that, the method for calculating the parameters related to the kingpin axis includes: Obtaining the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first angle between the front control arm system or the rear control arm system and the vertical direction in the suspension system, where the control arm system closer to the vehicle head is the front control arm system, and the control arm system closer to the vehicle tail is the rear control arm system; Calculating the first intersection point coordinates of the front control arm system and the rear control arm system based on the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first angle; After the front control arm system or the rear control arm system rotates, execute the step of obtaining the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first angle between the front control arm system or the rear control arm system and the vertical direction in the suspension system, and calculate the second intersection point coordinates of the front control arm system and the rear control arm system; Calculating the kingpin offset, kingpin inclination, and tire wear radius based on the first intersection point coordinates, the second intersection point coordinates, the wheel center coordinates, and the tire radius; The step of calculating the kingpin offset, kingpin inclination, and tire wear radius based on the first intersection point coordinates, the second intersection point coordinates, the wheel center coordinates, and the tire radius includes: Calculating the straight line equation of the kingpin axis based on the first intersection point coordinates and the second intersection point coordinates; Calculating the distance from the wheel center coordinates to the kingpin axis to obtain the kingpin offset; Calculating the kingpin inclination based on the first intersection point coordinates and the second intersection point coordinates through the trigonometric theorem; Calculating the tire wear radius based on the tire radius, kingpin inclination, and kingpin offset through the trigonometric theorem.

2. The method for calculating the parameters related to the kingpin axis according to claim 1, characterized in that, the coordinates of both ends of the front control arm system include the first coordinate close to the other wheel end and the second coordinate far from the other wheel end, the coordinates of both ends of the rear control arm system include the third coordinate close to the other wheel end and the fourth coordinate far from the other wheel end, the first angle is the angle between the front control arm system and the vertical direction, and the step of calculating the first intersection point coordinates of the front control arm system and the rear control arm system based on the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, and the first angle includes: Calculating the second angle between the connection line formed by the first coordinate and the third coordinate and the vertical direction and the distance between the first coordinate and the third coordinate based on the coordinates of both ends of the front control arm system, the coordinates of both ends of the rear control arm system, through the distance formula between two points and the trigonometric theorem; Calculating the first intersection point coordinates of the front control arm system and the rear control arm system through the trigonometric theorem according to the angle between the front control arm system and the vertical direction, the second angle, the distance between the first coordinate and the third coordinate, and the first coordinate.

3. The method for calculating the parameters related to the kingpin axis according to claim 1, characterized in that, The coordinates at both ends of the front control arm linkage include a first coordinate near the other wheel end and a second coordinate far from the other wheel end. The coordinates at both ends of the rear control arm linkage include a third coordinate near the other wheel end and a fourth coordinate far from the other wheel end. The first included angle is the included angle between the rear control arm linkage and the vertical direction. The step of calculating the first intersection point coordinates of the front control arm linkage and the rear control arm linkage based on the coordinates at both ends of the front control arm linkage, the coordinates at both ends of the rear control arm linkage, and the first included angle includes: According to the coordinates at both ends of the front control arm linkage and the coordinates at both ends of the rear control arm linkage, calculate, through the distance formula between two points and the trigonometric theorem, the second included angle between the line connecting the first coordinate and the third coordinate and the vertical direction, the third included angle between the line connecting the first coordinate and the second coordinate and the line connecting the first coordinate and the fourth coordinate, the fourth included angle between the line connecting the first coordinate and the fourth coordinate and the vertical direction, and the distance between the first coordinate and the third coordinate; According to the included angle between the rear control arm linkage and the vertical direction, the second included angle, the third included angle, the fourth included angle, the distance between the first coordinate and the third coordinate, and the first coordinate, calculate, through the trigonometric theorem, the first intersection point coordinates of the front control arm linkage and the rear control arm linkage.

4. The kingpin axis related parameter calculation method according to claim 1, characterized in that after the step of calculating the kingpin offset, kingpin inclination, and tire wear radius based on the first intersection point coordinates, the second intersection point coordinates, the wheel center coordinates, and the tire radius, it includes: detecting whether the kingpin offset is within a first preset range, whether the kingpin inclination is within a second preset range, and whether the tire wear radius is within a third preset range; if the kingpin offset is within the first preset range, the kingpin inclination is within the second preset range, and the tire wear radius is within the third preset range, then determine that the vehicle suspension design is reasonable.

5. A kingpin axis related parameter calculation device, characterized in that the kingpin axis related parameter calculation device includes: an acquisition module, configured to acquire the coordinates at both ends of the front control arm linkage, the coordinates at both ends of the rear control arm linkage, and the first included angle between the front control arm linkage or the rear control arm linkage and the vertical direction in the suspension system, where the control arm linkage near the vehicle head is the front control arm linkage, and the control arm linkage near the vehicle tail is the rear control arm linkage; a first calculation module, configured to calculate the first intersection point coordinates of the front control arm linkage and the rear control arm linkage based on the coordinates at both ends of the front control arm linkage, the coordinates at both ends of the rear control arm linkage, and the first included angle; a loop module, configured to, after the front control arm linkage or the rear control arm linkage rotates, execute the step of acquiring the coordinates at both ends of the front control arm linkage, the coordinates at both ends of the rear control arm linkage, and the first included angle between the front control arm linkage or the rear control arm linkage and the vertical direction in the suspension system, and calculate the second intersection point coordinates of the front control arm linkage and the rear control arm linkage; A second calculation module, configured to calculate a kingpin offset, a caster angle, and a scrub radius based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate, and the tire radius; the step of calculating the kingpin offset, the caster angle, and the scrub radius based on the first intersection coordinate, the second intersection coordinate, the wheel center coordinate, and the tire radius includes: calculating a straight-line equation of the kingpin axis based on the first intersection coordinate and the second intersection coordinate; calculating the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset; calculating the caster angle based on the first intersection coordinate and the second intersection coordinate through the trigonometric theorem; calculating the scrub radius based on the tire radius, the caster angle, and the kingpin offset through the trigonometric theorem.

6. The kingpin axis related parameter calculation device according to claim 5, wherein, the second calculation module is configured to: calculate a straight-line equation of the kingpin axis based on the first intersection coordinate and the second intersection coordinate; calculate the distance from the wheel center coordinate to the kingpin axis to obtain the kingpin offset; calculate the caster angle based on the first intersection coordinate and the second intersection coordinate through the trigonometric theorem; calculate the scrub radius based on the tire radius, the caster angle, and the kingpin offset through the trigonometric theorem.

7. The kingpin axis related parameter calculation device according to claim 5, wherein, the kingpin axis related parameter calculation device further includes a determination module, configured to: detect whether the kingpin offset is within a first preset range, whether the caster angle is within a second preset range, and whether the scrub radius is within a third preset range; if the kingpin offset is within the first preset range, the caster angle is within the second preset range, and the scrub radius is within the third preset range, then determine that the automotive suspension design is reasonable.

8. A kingpin axis related parameter calculation device, wherein, the kingpin axis related parameter calculation device includes a processor, a memory, and a kingpin axis related parameter calculation program stored on the memory and executable by the processor, wherein when the kingpin axis related parameter calculation program is executed by the processor, the steps of the kingpin axis related parameter calculation method according to any one of claims 1 to 4 are implemented.

9. A readable storage medium, wherein, a kingpin axis related parameter calculation program is stored on the readable storage medium, wherein when the kingpin axis related parameter calculation program is executed by a processor, the steps of the kingpin axis related parameter calculation method according to any one of claims 1 to 4 are implemented.

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