Suspension kingpin inclination angle measurement method, system and device and storage medium

The invention discloses a suspension kingpin inclination angle measurement method, system and device and a storage medium. A first feature point track matrix and a second feature point track matrix are calculated through a wheel grounding point coordinate, a wheel center coordinate, a wheel camber angle and a wheel rotation angle; the first feature point track matrix and the second feature point track matrix are used for representing position changes of the two feature points in the up-and-down bumping and left-and-right inclining process of the vehicle; based on the first feature point track matrix and the second feature point track matrix, a plurality of virtual pin shafts of the master pin can be obtained; obtaining a main inclination angle change curve through a plurality of main pin virtual pin shafts, wherein the main inclination angle change curve can represent change rules of a main pin caster angle and a main pin inclination angle; the kingpin inclination angle change curve is indirectly obtained by