The invention relates to an independent suspension guiding mechanism for a heavy vehicle and an optimization design method of independent suspension guiding mechanism. The independent suspension guiding mechanism comprises an upper cross arm and a lower cross arm, wherein the inner ends of the upper cross arm and the lower cross arm are separately hinged to a frame, and the outer ends of the uppercross arm and the lower cross arm are separately hinged to a wheel set. A hydro-pneumatic spring is hinged to the upper cross arm, and the hydro-pneumatic spring is hinged to the frame. The independent suspension guiding mechanism has the advantages of simple structure, stable performance, bearing capacity and large guiding stroke; and the optimization design method of the guiding mechanism has the advantages of simple process, good reliability and high precision.