An independent suspension system, vehicle and control method thereof

Abstract

The application discloses an independent suspension system, a vehicle and a control method thereof, and relates to the technical field of automobile manufacturing. The system comprises an integrated lower swing arm for being connected with a subframe, a rotating swing arm rotatably connected with the integrated lower swing arm, and a push-pull rod for pushing and pulling the rotating swing arm through a driving member. The push-pull rod drives the rotating swing arm to rotate relative to the lower swing arm through the pushing and pulling of the driving member, so as to drive the wheel to rotate. The second aspect further provides a vehicle comprising the independent suspension system. The third aspect provides a control method comprising the following steps: determining a vehicle steering angle according to a set route; determining the distance of each wheel corresponding to the push-pull rod moving in a set direction according to the vehicle steering angle; and controlling the output end of the driving member to stretch and contract according to the distance. The rotating swing arm comprises a curved section, and the opening direction of the curved section is opposite to the pushing and pulling direction of the output end of the driving member, so that the angle of the wheel can be larger.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile manufacturing, in particular to an independent suspension system, a vehicle and a control method thereof. BACKGROUND

[0002] In the prior art, the independent suspension type double front axle steering system mostly adopts a layout form of a steering gear + a booster cylinder, and the steering lever system of the first axle and the second axle is arranged complexly and occupies a large space of the vehicle. The steering rocker arm swings forward and backward, and the steering knuckle arm rotates left and right. The two are in two almost vertical planes, and the transmission efficiency of the steering lever system is low. When the layout is unreasonable, the relationship between the inner and outer wheels of the first axle and the second axle cannot meet the Ackerman theorem.

[0003] On the other hand, the current four-wheel steering system has a small rotatable angle of the wheels, and the suspension parts corresponding to the front and rear wheels cannot be universal, which has a high development cost. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide an independent suspension system, a vehicle and a control method thereof, so as to solve the problem that the angle of the wheels controlled by the four-wheel steering independent suspension system in the prior art is small and the wheels are not flexible enough in rotation.

[0005] To achieve the above purpose, the technical solution adopted by the present application is as follows:

[0006] In a first aspect, the present application provides an independent suspension system, comprising:

[0007] an integrated lower swing arm, one end of which is used for connecting with a subframe;

[0008] a rotating swing arm, comprising a straight segment and a curved segment connected with each other at their ends, the other end of the straight segment being used for connecting with a wheel and being rotatably connected with the end of the integrated lower swing arm away from the subframe, and the curved segment extending outward of the vehicle body;

[0009] a push-pull rod, which is rotatably connected with one end of the curved segment extending outward of the vehicle body;

[0010] a driving member, the output end of which is connected with the push-pull rod, for driving the push-pull rod to move in a set direction and driving the rotating swing arm to rotate relative to the integrated lower swing arm.

[0011] In some optional embodiments, the push-pull rod is semicircular in shape, located on the side of the rotating swing arm close to the vehicle body, and the opening direction of the arc shape is outward of the width direction of the vehicle body.

[0012] In some optional embodiments, the rotating swing arm is connected with the integrated lower swing arm and the wheel through a knuckle, the knuckle is rotationally connected with the integrated lower swing arm, and the knuckle is fixedly connected with the rotating swing arm and used for connecting the wheel.

[0013] In some optional embodiments, the knuckle comprises a vertical plate and a top plate, the vertical plate is rotationally connected with the integrated lower swing arm at a side away from the auxiliary frame, and the vertical plate is fixedly connected with the straight section of the rotating swing arm, the top plate is connected with the top of the vertical plate, and a limiting block is arranged on a side of the top plate close to the vehicle body and used for abutting against the vehicle body or the auxiliary frame when the vertical plate rotates to a limit position relative to the integrated lower swing arm.

[0014] In some optional embodiments, a slide rail is further arranged, the slide rail is arranged on the vehicle body, and the push-pull rod is slidably connected with the slide rail.

[0015] In some optional embodiments, a shock absorber is further arranged, one end of the shock absorber is rotationally connected with the integrated lower swing arm, and the other end of the shock absorber is used for connecting the vehicle body.

[0016] In some optional embodiments, a shock spring is further arranged, one end of the shock spring is connected with the integrated lower swing arm, and the other end of the shock spring is used for abutting against the vehicle body.

[0017] In some optional embodiments, the shock spring comprises an outer body and an inner core, the outer body has a containing cavity inside, the height of the inner core in the axial direction is less than the height of the outer body, and the inner core is arranged in the containing cavity of the outer body.

[0018] In the second aspect, a vehicle is further provided, and the vehicle comprises the independent suspension system.

[0019] In the third aspect, a control method of an unmanned vehicle is further provided, and the control method is implemented by using the independent suspension system, and comprises the following steps.

[0020] determining a vehicle steering angle according to a set route;

[0021] determining a distance L of movement of each push-pull rod in a set direction according to the vehicle steering angle;

[0022] controlling the output end of the driving member to be extended or retracted according to the distance L.

[0023] Compared with the prior art, the advantages of the present application are as follows: the rotating swing arm comprising the curved section is arranged, and the opening direction of the curved section is opposite to the push-pull direction of the output end of the driving member, so that when the driving member pushes and pulls the arc-shaped push-pull rod, the rotating swing arm can be driven to rotate relative to the integrated lower swing arm, and then the wheel is driven to rotate. Compared with the straight-line type connecting rod, the angle of rotation of the wheel is larger, and the problem of being unable to rotate back after being rotated to the limit angle is avoided. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of an independent suspension according to the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the structure of the rotating swing arm;

[0027] Figure 3 for Figure 1 Schematic diagram of the middle steering knuckle;

[0028] Figure 4 for Figure 1 Schematic diagram of the integrated lower control arm;

[0029] Figure 5 for Figure 1 Schematic diagram of the structure of the damping spring;

[0030] Figure 6 This is a top view schematic diagram of a vehicle according to the present invention;

[0031] Figure 7 for Figure 6 A frontal view diagram;

[0032] Figure 8 This is a schematic diagram illustrating the use of an independent suspension system to control wheel steering.

[0033] In the diagram: 1. Integrated lower control arm; 11. Bushing; 2. Rotating control arm; 21. Straight section; 22. Curved section; 3. Push-pull rod; 4. Drive component; 5. Steering knuckle; 51. Top plate; 52. Limiting block; 53. Vertical plate; 531. Limiting groove; 54. Wheelbase adaptation module; 6. Slide rail; 71. Shock absorber; 72. Shock absorber spring; 721. Outer body; 722. Inner core; 8. Body; 9. Subframe; 10. Wheel. Detailed Implementation

[0034] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0035] The embodiments of the present application will be further described below with reference to the drawings.

[0036] In one aspect, as shown in Figure 1 The present application provides an independent suspension system, which comprises an integrated lower swing arm 1 for connecting with a sub-frame 9, a rotating swing arm 2 rotatably connected with the integrated lower swing arm 1, and a push-pull rod 3 for pushing and pulling the rotating swing arm 2 through a driving member 4. The push-pull rod 3 drives the rotating swing arm 2 to rotate relative to the integrated lower swing arm 1 through the pushing and pulling of the driving member 4, thereby driving a wheel 10 to rotate.

[0037] Specifically, one end of the integrated lower swing arm 1 is used for connecting with the sub-frame 9; the rotating swing arm 2 comprises a straight segment 21 and a curved segment 22, the ends of which are connected with each other, the other end of the straight segment 21 is used for connecting with the wheel 10, and is rotatably connected with the end of the integrated lower swing arm 1 away from the sub-frame 9, and the curved segment 22 extends outwardly to the vehicle body; the push-pull rod 3 is rotatably connected with one end of the curved segment 22 extending outwardly to the vehicle body; the output end of the driving member 4 is connected with the push-pull rod 3, and is used for driving the push-pull rod 3 to move in a set direction, and driving the rotating swing arm 2 to rotate relative to the integrated lower swing arm 1.

[0038] It can be understood that the rotating swing arm 2 can rotate relative to the end of the integrated lower swing arm 1 away from the sub-frame 9, thereby driving the corresponding wheel 10 to rotate. At this time, the rotating path of the connection point of the curved segment 22 and the push-pull rod 3 is arc-shaped. In order to make the driving member 4 drive the push-pull rod 3 to move in a set direction to drive the rotating swing arm 2 to rotate, the output end of the driving member 4 and the push-pull rod 3 are connected in a hinged manner, and the other end of the push-pull rod 3 and the curved segment 22 are also connected in a hinged manner, thereby converting the linear motion of the output end of the driving member 4 into the rotation of the rotating swing arm 2.

[0039] In this example, the driving member 4 can be a hydraulic telescopic cylinder, the other end of the curved segment 22 is connected with the push-pull rod 3 through a ball hinge, and the end of the push-pull rod 3 away from the curved segment 22 is also connected with the output end of the driving member 4 through a ball hinge. One end of the integrated lower swing arm 1 is hinged on the sub-frame 9 or the vehicle body 8 through two bushings 11.

[0040] Preferably, as shown in Figure 2As shown, the rotating swing arm 2 is a J-shaped swing arm, and the curved section 22 is a quarter of a circular arc, so that the tangent line at the other end of the curved section 22 is the same as the extension direction of the output end of the driving member 4 in the initial state, i.e., when the rotation angle of the wheel 10 is 0°.

[0041] It should be noted that, by setting the curved section 22 and making the opening direction of the curved section 22 opposite to the push-pull direction of the output end of the driving member 4, the rotation angle of the rotating swing arm 2 will be larger when the output end of the driving member 4 extends or retracts by the same distance compared to not setting the curved section 22. At the same time, the problem that the output end of the driving member 4 cannot be pushed back in the opposite direction when the rotating swing arm 2 and the push-pull rod 3 are rotated to be on the same straight line is avoided.

[0042] The length of the straight section 21 of the rotating swing arm 2 and the radius of the curved section 22 can be set according to the specific requirements of the wheel steering, and are not specifically limited here, and a person skilled in the art can select the corresponding values according to the design requirements of the vehicle.

[0043] In this example, a hollow groove is formed in the rotating swing arm 2, thereby meeting the design requirement of lightweight vehicle.

[0044] Due to the setting of the curved section 22, in order to avoid the sudden change in the rotation angle when the straight section 21 drives the wheel 10 to rotate, causing the vehicle to travel unstably, in some optional embodiments, the push-pull rod 3 is a semicircular arc, which is located on the side of the rotating swing arm 2 close to the vehicle body, and the opening direction of the arc is towards the outside of the vehicle body width direction.

[0045] It can be understood that if the push-pull rod 3 is a straight rod, when the push-pull rod 3 moves and rotates relative to the rotating swing arm 2 and the driving member 4 at the same time, the push-pull rod 3 needs to rotate a large angle relative to the displacement direction even if a small displacement occurs, in order to drive the rotating swing arm 2 of a certain length to rotate, and as the distance that the push-pull rod 3 is pushed and pulled gradually increases, the non-uniform change becomes more severe. Therefore, in some optional embodiments, the push-pull rod 3 can be set as an extension rod to offset the sharp change in the rotation angle by changing the length of the push-pull rod 3. However, the extension length of the extension rod needs to be controlled to match the displacement of the push-pull rod 3.

[0046] Therefore, in this example, by setting the semicircular arc-shaped push-pull rod 3, the rotation angle of the wheel 10 is also uniformly changed when the driving member 4 is uniformly pushed and pulled. By rotating the semicircular arc relative to the rotating swing arm 2 and the push-pull rod 3, the small displacement of the push-pull rod 3 in a certain direction is offset, so that the large rotation angle of the rotating swing arm 2 relative to the integrated lower swing arm 1 is avoided.

[0047] Here, when the wheel rotation angle is 0°, the push-pull rod 3 is located away from the opening direction of the curved section 22, and the opening direction of the arc of the push-pull rod 3 is towards the outside of the vehicle body.

[0048] In some alternative embodiments, the rotating swing arm 2 is connected to the integrated lower swing arm 1 and the wheel 10 through a steering knuckle 5, which is rotatably connected to the integrated lower swing arm 1 and fixedly connected to the rotating swing arm 2 and the wheel 10.

[0049] Further, the steering knuckle 5 comprises a vertical plate 53 and a top plate 51, the vertical plate 53 is rotatably connected to the end of the integrated lower swing arm 1 away from the sub-frame 9 and fixedly connected to the straight section 21 of the rotating swing arm 2, and the top plate 51 is connected to the top of the vertical plate 53, and the side of the top plate 51 close to the vehicle body 8 is provided with a limiting block 52 for abutting against the vehicle body 8 or the sub-frame 9 when the vertical plate 53 rotates to the limit position relative to the integrated lower swing arm 1.

[0050] It can be understood that the limiting block 52 is conical, the large-diameter end of which is connected to the top surface of the top plate 51, and the small-diameter end of which can abut against the vehicle body 8 or the sub-frame 9 to prevent the independent suspension system from being damaged and causing the vehicle to be in danger.

[0051] Preferably, the limiting block 52 is made of rubber and has a certain elastic force, and is fixedly connected to the top surface of the top plate 51 after vulcanization.

[0052] In this case, as shown in Figs. Figure 3 and Figure 4 the vertical plate 53 is provided with a square limiting groove 531 close to the side wall of the rotating swing arm 2, and the other end of the integrated lower swing arm 1 is in the shape of a triangle protruding away from the sub-frame 9. The top corner of the triangle is located in the limiting groove 531 and is rotatably connected to the vertical plate 53 through a rotating shaft.

[0053] It can be understood that the size of the opening of the square limiting groove 531 and the size of the top corner of the triangle of the other end of the integrated lower swing arm 1 limit the size of the rotating angle of the steering knuckle 5 relative to the integrated lower swing arm 1. The purpose of this setting is to prevent the swing angle of the wheel 10 from being too large. Especially when the push-pull rod 3 is set as a straight telescopic rod, the rotating angle of the steering knuckle 5 is limited to prevent the problem that it cannot be rotated in the opposite direction due to excessive rotation.

[0054] In some alternative embodiments, the side of the vertical plate 53 connected to the wheel 10 is further provided with a track adaptation module 54, so that the independent suspension system can adapt to vehicles with different track widths by changing the thickness of the track adaptation module 54 in the vehicle width direction.

[0055] For example, the wheel track adapting module 54 is configured to have two thicknesses of 5mm and 10mm. In different vehicle wheel track cases, one wheel track adapting module can be installed on the vertical plate 53, or multiple wheel track adapting modules can be combined and bolted on the vertical plate 53. The wheel track adapting module 54 and the vertical plate 53 are both provided with through holes for the bearing to pass through, for connection with the wheel 10.

[0056] Therefore, by assembling wheel track adapting modules of different thicknesses, the above-mentioned independent suspension system can be adapted to vehicles of different wheel tracks, improving the versatility of the independent suspension system.

[0057] In some optional embodiments, the above-mentioned independent suspension system further comprises a sliding rail 6, which is connected to the vehicle body, and the arc-shaped push-pull rod 3 is slidably connected to the sliding rail 6.

[0058] In this case, in order to cooperate with the rotational connection of the push-pull rod 3 with the ball hinge, the sliding rail 6 is provided with a sliding groove in the axial direction, and the cross section perpendicular to the axial direction is a circle matching the size of the ball hinge, so that the other end of the push-pull rod 3 away from the curved section 22 can slide in the sliding groove and rotate in the sliding groove.

[0059] It should be noted that the sliding rail 6 is fixedly connected to the vehicle body 8 or the subframe 9, and the sliding groove is provided in the direction along the vehicle length.

[0060] In some optional embodiments, the above-mentioned independent suspension system further comprises a shock absorber 71, one end of which is rotatably connected to the integrated lower swing arm 1, and the other end is used to connect the vehicle body 8.

[0061] It can be understood that the shock absorber 71 can be a hydraulic telescopic rod or other damping member, which is hinged to the integrated lower swing arm 1, so as to avoid excessive inertia of the vehicle body 8 when the wheel 10 rotates, thereby preventing the vehicle from overturning and other problems.

[0062] In some optional embodiments, the above-mentioned independent suspension system further comprises a shock absorbing spring 72, one end of which is connected to the integrated lower swing arm 1, and the other end is used to support the vehicle body 8.

[0063] It can be understood that the shock absorbing spring 72 functions to provide shock absorption for the vehicle during driving.

[0064] In the case of good road conditions for vehicle driving, for example, unmanned passenger vehicles, which mostly drive for a short distance and on a specific path, the driving speed of the vehicle is relatively low. At this time, the above-mentioned shock absorbing spring 72 can be made of rubber material, which can achieve the effect of shock absorption through the resilience of rubber.

[0065] Preferably, as Figure 5As shown, the damping spring 72 comprises an outer body 721 and an inner core 722, the outer body 721 has a receiving cavity inside, and the height of the inner core 722 is less than that of the outer body 721, and the inner core 722 is connected in the receiving cavity of the outer body 721.

[0066] Specifically, the outer body 721 comprises a plurality of cylinders stacked together in the vertical direction and integrally formed, and the arc-shaped side wall of each cylinder is arched outward in the radial direction. The inner core 722 is arranged in the receiving cavity of the outer body 721, and the height of the inner core 722 is less than that of the outer body 721. When the vehicle load is small, the outer body 721 is compressed, and at this time the inner core 722 is not compressed; when the vehicle load is large, the outer body 721 is compressed until the vehicle body 8 and the inner core 722 are in abutment, at which time the inner core 722 cooperates with the outer body 721 to increase the overall resilience.

[0067] Therefore, by setting the height of the inner core 722 relative to the outer body 721, the two-stage stiffness requirement can be achieved, and the intervention of the inner core 722 can be controlled to cooperate with the outer body 721 to achieve damping.

[0068] Preferably, the inner core 722 is in the shape of a truncated cone, with the large-diameter end connected to the bottom of the receiving cavity and the small-diameter end extending towards the opening of the receiving cavity. The purpose of this arrangement is to increase the cross-sectional area of the inner core 722 downward, so that as the vehicle load increases, the vehicle body compresses the outer body 721 and the inner core 722 is also compressed, at which time the greater the downward compression distance, the greater the stiffness of the damping spring 72, thereby ensuring that the natural frequency of the vehicle does not change significantly or remains unchanged.

[0069] Optionally, the bottom of the damping spring 72 is connected to the integrated lower swing arm 1 through adhesive connection or bottom rubber vulcanization process, and the top is connected to the vehicle body 8 through corresponding mounting seat or adhesive assembly.

[0070] In this case, the damping spring 72 is made in a cylindrical structure and can be arranged at the opening of the curved section 22 of the rotating swing arm 2, so that the curved section 22 serves as a shelter for the damping spring 72, further optimizing the spatial layout of the independent suspension system, reducing the space occupancy rate, and facilitating the overall design optimization of the vehicle, providing installation space for the battery and other structures.

[0071] At the same time, when the vehicle is fully loaded and subjected to road excitation, the limiting block 52 can also serve as a buffer for the force.

[0072] In a second aspect, the application also provides a vehicle comprising the above-mentioned independent suspension system.

[0073] Specifically, the vehicle comprises a sub-frame 9 and four wheels 10, each of which is connected to the sub-frame 9 through an independent suspension system.

[0074] One end of the integrated lower swing arm 1 corresponding to each wheel 10 is hinged to the sub-frame 9 through a bushing, and the other end is connected to the rotating swing arm 2, which comprises a straight section 21 and a curved section 22 connected at their ends. The other end of the straight section 21 is connected to the corresponding wheel 10 and is rotatably connected to the end of the integrated lower swing arm 1 away from the sub-frame 9. The curved section 22 extends outward from the vehicle body; the push-pull rod 3 is rotatably connected to the end of the curved section 22 extending outward from the vehicle body; the output end of the driving member 4 is connected to the push-pull rod 3 for driving the push-pull rod 3 to move in a set direction and rotating the rotating swing arm 2 relative to the integrated lower swing arm 1.

[0075] For example, as shown in Figure 6 and Figure 7 When the vehicle is driving forward, the opening direction of the curved section 22 of the rotating swing arm 2 in the independent suspension system of the left front wheel and the right front wheel is towards the front of the vehicle, and the opening direction of the push-pull rod 3 is towards the direction of the wheel on the outside of the vehicle; the opening direction of the curved section 22 of the rotating swing arm 2 in the independent suspension system of the left rear wheel and the right rear wheel is towards the rear of the vehicle, and the opening direction of the push-pull rod 3 is towards the direction of the wheel on the outside of the vehicle.

[0076] Preferably, in this example, the same driving member 4 is used for the left front wheel and the left rear wheel, and the same driving member 4 is used for the right front wheel and the right rear wheel. The driving member 4 is a bidirectional telescopic hydraulic cylinder.

[0077] As can be seen, each wheel 10 is provided with an independent suspension system, and the driving member for the two wheels on the same side is shared, which facilitates steering control and makes the structure more compact. Through the extension and shortening of the two output ends of the bidirectional telescopic hydraulic cylinder, the independent rotation of four-wheel steering can be realized, thereby realizing Ackerman steering.

[0078] In addition, the independent suspension system is used in the vehicle, without the need for active suspension and steering system, which can realize four-wheel steering and improve the steering angle of the wheels. In this example, the steering angle of the wheels can be increased to 9° to 15°. The components in the independent suspension system of the present application can be universal, reducing the manufacturing and maintenance costs of the vehicle.

[0079] In a third aspect, the present application also provides a control method for an unmanned vehicle, which is implemented by using the above-mentioned independent suspension system, comprising the following steps:

[0080] S1: determining the steering angle of the vehicle according to the set route.

[0081] When the above independent suspension system is adapted to urban traffic low-speed intelligent unmanned vehicles, for logistics distribution / cleaning and disinfection / short-distance passenger transport and other uses, at this time, the steering angle of the vehicle in the driving path can be determined according to the input road traffic line information.

[0082] S2: According to the steering angle of the vehicle, the distance L of the push-pull rod 3 corresponding to each wheel 10 moving in the set direction is determined.

[0083] S3: According to the above distance L, the output end of the driving part 4 is controlled to stretch and retract.

[0084] The ECU (Electronic Control Unit) of the vehicle determines the distance that the output end of the corresponding driving part 4 needs to stretch or retract according to the steering angle of the vehicle, and controls the output end of the driving part 4 to stretch and retract according to the above distance, thereby driving the push-pull rod 3 to displace along the direction of the slide rail 6, rotating the rotating swing arm 2, and driving the corresponding wheel to rotate.

[0085] When the steering angle of the vehicle meets the requirements, the ECU controls the output end of the driving part 4 to return to the initial state, so that the vehicle returns to the straight driving state.

[0086] Specifically, as shown in Figure 8 When the ECU sends the calculated stroke value signal of the push-pull rod 3 to the controller of the driving part 4. The driving part 4 is a bidirectional linkage hydraulic cylinder actuator, that is, the actuator cylinder A is bidirectional compression, and the actuator cylinder B expands the same stroke and reversely extends to push the output. When the actuator cylinder A retracts, the connection point a1 of the driving part and the push-pull rod at the front axle retracts L and reaches a2, and the connection point a4 of the driving part and the push-pull rod at the rear axle retracts L and reaches a3. At this time, the right actuator cylinder B is extended to push the connection point b1 of the driving part and the push-pull rod at the front axle of the vehicle to b2, and the connection point b3 of the driving part and the push-pull rod at the rear axle to b4, thereby ensuring that the vehicle turns the front wheels to the right by an angle θ and the rear wheels to the left by an angle θ, as shown in Figure 8

[0087] ​The independent suspension system, the vehicle and the control method thereof, by setting the rotating swing arm 2 as J type, and making the opening direction of the bending section 22 opposite to the push-pull direction of the output end of the driving member 4, so that compared with not setting the bending section 22, the output end of the driving member 4 will have a larger rotation angle of the rotating swing arm 2 when stretching and contracting the same distance. At the same time, it also avoids the problem that when the rotating swing arm 2 and the push-pull rod 3 are rotated to be located on the same straight line, the output end of the driving member 4 cannot be pushed back in the opposite direction; the push-pull rod 3 is set as a semicircular arc, which cooperates with the J type rotating swing arm 2 to avoid the sudden change of the rotation angle when the straight section 21 drives the wheel 10 to rotate, and causes the instability of the vehicle driving; by setting the wheel track adaptation module 54, by installing wheel track adaptation modules 54 with different thicknesses, so that the independent suspension system can adapt to vehicles with different wheel tracks, and improve the universality of the independent suspension system; by setting the damping spring 72, and including the outer body 721 and the inner core 722 with different heights, so as to meet the two-stage stiffness requirement, ensure that the natural frequency of the vehicle does not change greatly or remains unchanged, and improve the ride comfort and safety of the vehicle; each wheel 10 is configured with an independent suspension system, and the two wheels on the same side share one driving member, so as to facilitate steering and make the structure more compact. By the elongation and shortening of the two output ends of the bidirectional telescopic hydraulic cylinder, the independent rotation of four-wheel steering can be realized, so that Ackerman steering can be realized; by using the independent suspension system in the vehicle, without active suspension and steering system, four-wheel steering can be realized, and the steering angle of the wheel can be improved; and each part of the independent suspension system can be universal, reducing the manufacturing and maintenance costs of the vehicle.

[0088] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0089] It should be noted that, in the present application, the relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0090] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An independent suspension system characterized by, The application relates to an independent suspension system. The application comprises: an integrated lower swing arm (1) having one end connected with a subframe (9); a rotating swing arm (2) comprising a straight section (21) and a curved section (22) connected at their ends, the other end of the straight section (21) being connected with a wheel (10) and rotatably connected with the end of the integrated lower swing arm (1) away from the subframe (9), and the curved section (22) extending outwardly from the vehicle body; a push-pull rod (3) rotatably connected with the end of the curved section (22) extending outwardly from the vehicle body; 2. The independent suspension system of claim 1, wherein, a driving member (4) having an output end connected with the push-pull rod (3) for driving the push-pull rod (3) to move in a set direction and rotating the rotating swing arm (2) relative to the integrated lower swing arm (1).

3. The independent suspension system of claim 1, wherein, The push-pull rod (3) is semicircular in shape and located on the side of the rotating swing arm (2) close to the vehicle body, and the opening direction of the arc is outward in the width direction of the vehicle body.

4. The independent suspension system of claim 3, wherein, The rotating swing arm (2) is connected with the integrated lower swing arm (1) and the wheel (10) through a knuckle (5), the knuckle (5) is rotatably connected with the integrated lower swing arm (1), the knuckle (5) is fixedly connected with the rotating swing arm (2) and used for connecting the wheel (10).

5. The independent suspension system of claim 1, wherein, The knuckle (5) comprises a vertical plate (53) and a top plate (51), the vertical plate (53) is rotatably connected with the end of the integrated lower swing arm (1) away from the subframe (9) and fixedly connected with the straight section (21) of the rotating swing arm (2), and the top plate (51) is connected with the top of the vertical plate (53), a limiting block (52) is arranged on the side of the top plate (51) close to the vehicle body (8) and used for abutting against the vehicle body (8) or the subframe (9) when the vertical plate (53) rotates to the limit position relative to the integrated lower swing arm (1).

6. The independent suspension system of claim 1, wherein, The application further comprises a slide rail (6) connected with the vehicle body, and the push-pull rod (3) is slidably connected with the slide rail (6).

7. The independent suspension system of claim 1, wherein The application further comprises a shock absorber (71) having one end rotatably connected with the integrated lower swing arm (1) and the other end connected with the vehicle body (8).

8. The independent suspension system of claim 7, wherein, The application further comprises a shock spring (72) having one end connected with the integrated lower swing arm (1) and the other end used for abutting against the vehicle body (8).

9. A vehicle characterized by comprising: The shock spring (72) comprises an outer main body (721) and an inner core (722), the outer main body (721) has a containing cavity in the inside, the height of the inner core (722) in the axial direction is smaller than the height of the outer main body (721), and the inner core (722) is connected in the containing cavity of the outer main body (721).

10. A control method of an unmanned vehicle, characterized by, The application relates to an independent suspension system. The application is implemented by using the independent suspension system and comprises the following steps: determining the steering angle of the vehicle according to a set route; determining the distance L of the movement of the push-pull rod (3) corresponding to each wheel (10) in a set direction according to the steering angle of the vehicle; controlling the output end of the driving member (4) to be extended or retracted according to the distance L.

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