An integrated drive-by-wire steering system based on in-wheel motors

Abstract

The application provides a kind of integrated drive steering system based on wheel hub motor, belongs to electric vehicle drive system technical field, including drive system, brake system, suspension system and steering system.Drive system includes wheel hub motor, wheel hub motor speed reducer, wheel hub flange;Brake system includes brake end end cover, brake disc and EMB brake system;The steering system is arranged on the brake end end cover, and the suspension system is arranged on the steering system.The steering system can have multiple configurations.This application adopts wheel hub motor and integrates braking, steering and suspension, has high structural integration, symmetry and universality, multiple steering schemes, improves the flexibility of chassis, and can provide structural basis for unmanned and intelligent vehicles.

Description

TECHNICAL FIELD

[0001] The application is a driving steering device for an automobile, belonging to the technical field of electric automobile driving systems, and in particular relates to an integrated driving steering system based on a wheel hub motor. BACKGROUND

[0002] In the past few years, the interest in unmanned and intelligent automobiles has gradually increased, and the demand for new driving devices has gradually increased. New driving steering systems have an important influence on intelligent automobiles. Distributed full-line controlled electric automobiles with four-wheel independent driving / steering / braking functions will become a new direction for future automobile development. The distributed arrangement of the electric chassis architecture makes it have higher controllable freedom and control accuracy than traditional chassis, providing a bottom layer foundation for automobile intelligence.

[0003] At present, the distributed driving system mainly adopts the wheel hub motor direct driving wheel mode, and the existing steering, suspension and braking systems are designed and installed separately, occupying a large space and having a fixed installation position. The existing line control steering device and suspension device are complex in design, and the installation position of the steering and the design of the suspension have low integration. SUMMARY

[0004] In order to at least solve one of the problems existing in the prior art, according to the existing line control steering, braking and wheel hub motor technology, the application provides a driving steering system based on a wheel hub motor, which adopts a wheel hub motor and integrates braking, steering and suspension, has the characteristics of high structural integration, symmetry and universality, and multiple steering schemes, improves the flexibility of the chassis, and provides a structural foundation for unmanned and intelligent automobiles.

[0005] In order to achieve the purpose of the application, the application provides an integrated driving steering system based on a wheel hub motor, which comprises a driving system, a braking system, a steering system and a suspension system. The device is designed symmetrically as a whole, and the driving unit is modularized and can be installed at any position of the four wheels.

[0006] The driving system comprises a driving system shell, a wheel hub motor, a wheel hub motor reducer and a wheel hub flange. The wheel hub motor and the wheel hub motor reducer are located in the driving system shell, the wheel hub flange is located outside one side of the driving system shell, the wheel hub motor is drivingly connected with the wheel hub flange through the wheel hub motor reducer, and the wheel hub flange is used to connect with the wheel.

[0007] The brake system is located outside the drive system shell, and the brake system and the hub flange plate are located on two sides of the drive system shell respectively, the brake system comprises a brake end cover, a brake disc and an EMB brake system, the brake disc is connected with the planet carrier of the drive system, the EMB brake system is fixedly connected with the drive system shell, the extension direction of the EMB brake system is parallel to the planet carrier, the EMB brake system is used for braking the brake disc, and the brake end cover is located outside the brake disc.

[0008] The steering system is arranged on the brake end cover, and the suspension system is arranged on the steering system.

[0009] Further, the wheel hub motor comprises a stator, a rotor and an output shaft, the stator is connected with the drive system shell, the rotor is located in the stator, and the output shaft is connected with the rotor; the wheel hub motor reducer comprises a planet carrier and a planet wheel arranged on the planet carrier, and the planet carrier is fixedly connected with the hub flange plate located outside the drive system shell through the output shaft.

[0010] Further, an internal oil cooling pipeline is arranged in the drive system shell.

[0011] Further, a wheel side end cover is further arranged, and the wheel side end cover is located between the hub flange plate and the drive system shell.

[0012] Further, the brake end cover is provided with an opening, and the EMB brake system extends from the opening.

[0013] Further, the steering system comprises a steering knuckle, a steering connecting piece and a steering motor, the steering knuckle is fixedly connected with the brake end cover, the output end of the steering motor is connected with the steering knuckle through the steering connecting piece, and the steering connecting piece can rotate in clockwise direction and counterclockwise direction.

[0014] The suspension system comprises an upper arm, a lower arm and a main suspension, the upper arm and the lower arm are oppositely arranged, one end of the upper arm and the lower arm is respectively hinged with the steering knuckle, and the other end is used for being hinged with a vehicle frame; two ends of the main suspension are respectively used for being hinged with the lower arm and the vehicle frame.

[0015] Further, a steering motor reducer is further arranged, the steering connecting piece is connected with the steering knuckle, the steering motor is connected with the steering motor reducer, the steering motor reducer is an output shaft of the steering motor, the steering motor reducer is vertically fixedly connected with the steering connecting piece, and the output shaft of the steering motor reducer is fixedly connected with the steering knuckle.

[0016] Further, the steering motor is vertically or horizontally mounted on the lower arm.

[0017] Further, the steering system comprises a steering knuckle, a steering motor, a steering rocker and a steering drag link, the steering knuckle is fixedly connected with the brake end cover, the output end of the steering motor is connected with the steering rocker, the steering rocker is hingedly connected with the steering drag link, and the steering drag link is hingedly connected with the steering knuckle.

[0018] The suspension system comprises an upper transverse arm, a lower transverse arm and a main suspension, the upper transverse arm and the lower transverse arm are oppositely arranged, one end of the upper transverse arm and the lower transverse arm is respectively hingedly connected with the steering knuckle, and the other end is used for being hingedly connected with the vehicle frame; and two ends of the main suspension are respectively used for being hingedly connected with the lower transverse arm and the vehicle frame.

[0019] Preferably, the steering system comprises a steering knuckle, a steering motor, a steering motor reducer, a steering rocker and a steering drag link, the steering knuckle is fixedly connected with the brake end cover, one end of the steering knuckle is ball-jointedly connected with one end of the steering drag link, the other end of the steering drag link is ball-jointedly connected with one end of the steering rocker, the other end of the steering rocker is fixedly connected with an output shaft of the steering motor reducer, the steering motor is connected with the steering motor reducer, the steering motor and the steering motor reducer are both fixedly connected with the vehicle frame along the driving direction of the vehicle, the steering motor is transversely arranged, the input shaft of the steering motor reducer is the output shaft of the steering motor, the steering motor rotates to drive the steering rocker to rotate, and then the steering rocker pulls the steering drag link to rotate the wheels clockwise and counterclockwise around the kingpin.

[0020] The suspension system comprises an upper transverse arm, a lower transverse arm and a main suspension, one end of the upper transverse arm is ball-jointedly connected with the upper end of the steering knuckle, the other end of the upper transverse arm is connected with the vehicle frame through a pin shaft, one end of the lower transverse arm is connected with the steering connecting piece through a pin shaft, the other end of the lower transverse arm is connected with the vehicle frame through a pin shaft of the vehicle frame, one end of the main suspension is connected with the lower transverse arm through a pin shaft, and the other end of the main suspension is connected with the vehicle frame through a pin shaft.

[0021] The suspension system comprises an upper transverse arm, a lower transverse arm and a main suspension, one end of the upper transverse arm is ball-jointedly connected with the upper end of the steering knuckle, the other end of the upper transverse arm is connected with the vehicle frame through a pin shaft, one end of the lower transverse arm is connected with the steering connecting piece through a pin shaft, the other end of the lower transverse arm is connected with the vehicle frame through a pin shaft of the vehicle frame, one end of the main suspension is connected with the lower transverse arm through a pin shaft, and the other end of the main suspension is connected with the vehicle frame through a pin shaft.

[0022] Further, the steering motor is arranged on the vehicle frame.

[0023] Further, the steering motor is arranged on the vehicle frame.

[0024] Further, the main suspension adopts an air spring or a magneto-rheological damper.

[0025] Further, a high-speed motor drive with a planetary reducer is adopted to improve the power density of the drive system.

[0026] The drive system integrates the hub motor, the reducer, the brake, the steering system and the suspension system, the system has high integration degree, the whole structure is symmetrical, the suspension system has plane symmetry, the installation positions of the suspension and the vehicle body are also plane symmetrical, and the system can be applied to left and right wheels and front and rear wheels.

[0027] Compared with the prior art, the application can at least realize the following beneficial effects:

[0028] (1) The integrated drive steering system based on the hub motor has modular structure, the suspension system and the steering system module have multiple configurations, and the whole configuration has symmetry and universality.

[0029] (2) The integrated drive steering system based on the hub motor has a hub motor drive system with a reducer, the power density of the drive system can be improved by using a high-speed hub motor, the brake system is arranged behind the drive system based on a different arrangement configuration, and the innovative power transmission route makes the structure compact and has high integration degree.

[0030] (3) The hub motor can be sealed with the reducer and can be actively cooled to control the temperature rise of the hub motor.

[0031] (4) The integrated drive steering system based on the hub motor has rich steering system configurations, in the steering configuration, the steering motor is matched with a steering motor reducer to make the steering motor vertically or horizontally arranged, the steering motor can also be matched with a steering pull rod to realize rotation, and the installation form and installation position of the steering motor on the vehicle frame are various. The suspension system uses an active suspension, the parameters of the suspension can be actively adjusted to optimize the vibration characteristics of the vehicle, improve the driving comfort, and improve the power performance of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structure schematic diagram of a specific embodiment of the integrated drive steering system based on the hub motor provided by the embodiment of the application.

[0033] Figure 2 is a structure schematic diagram of another specific embodiment of the integrated drive steering system based on the hub motor provided by the application.

[0034] Figure 3 is a structure schematic diagram of the integrated drive steering system based on the hub motor provided by the application, omitting the tire.

[0035] Figure 4is a structural exploded view of a specific embodiment of an integrated drive steering system based on a wheel hub motor provided by the present application.

[0036] Figure 5 is a structural exploded view of another specific embodiment of an integrated drive steering system based on a wheel hub motor provided by the present application.

[0037] Figure 6 is an exploded view of a drive system and a brake system of an integrated drive steering system based on a wheel hub motor provided by the present application.

[0038] Figure 7 is Figure 1 is a sectional view of an integrated drive steering system based on a wheel hub motor provided by the present application.

[0039] Figure 8 is Figure 2 is a sectional view of another integrated drive steering system based on a wheel hub motor provided by the present application.

[0040] Fig. 1 is a tire, 2 is a drive system, 3 is a brake system, 4 is a steering system, 5 is a suspension system; 21 is a wheel hub flange, 22 is a drive system shell, 23 is a wheel side end cover, 24 is a stator, 25 is an output shaft, 26 is a planetary carrier, 27 is a planetary gear, 28 is a planetary gear shaft, 29 is a rotor, 210 is a bearing, 211 is an oil retaining ring; 31 is an EMB brake system, 32 is a brake disc, 33 is a brake end cover, 34 is a brake connecting block; 41 is a knuckle, 42 is a steering connecting block, 43 is a steering motor, 44 is a steering tie rod, 45 is a steering arm; 51 is an upper control arm, 52 is a lower control arm, 53 is a main suspension. 6 is a vehicle frame. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application is further described below in combination with specific drawings.

[0042] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying 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 limiting the present application. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0043] In the description of the present application, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be internal communication of 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.

[0044] The application provides an integrated driving and steering system based on a wheel hub motor, comprising a tire 1, a wheel hub motor driving system 2 with a reducer, a brake system 3 integrated on the wheel hub motor, a steering system 4, a suspension system 5 and a vehicle frame 6; the driving system 2 comprises a wheel hub flange plate 21, a driving system shell 22, a wheel side end cover 23, a stator 24, an output shaft 25, a planet carrier 26, a planet wheel 27, a planet wheel shaft 28, a rotor 29, a bearing 210 and an oil retaining ring 211; the brake system comprises an EMB brake system 31, a brake disc 32 and a brake end cover 33; the steering system comprises a steering knuckle 41, a steering connecting block 42, a steering motor 43, a steering pull rod 44 and a steering rocker arm 45; and the suspension system comprises an upper transverse arm 51, a lower transverse arm 52 and a main suspension 53.

[0045] As a specific embodiment, please refer to Figure 8, the driving system 2 includes a driving system shell 22, a wheel side end cover 23, a wheel hub motor, a wheel hub motor reducer, a wheel hub flange plate 21, the wheel hub motor includes a stator 24, a rotor 29 and an output shaft 25, the stator 24 is located in the driving system shell 22, the rotor 29 is located in the stator 24, the rotor 29 is fixedly connected with the output shaft 25, and the output shaft 25 is used as a power source of the driving system 2; the wheel hub motor reducer is a planetary reducer, which includes a planet carrier 26, a planet wheel 27 and a planet wheel shaft 28, the output shaft 25 is a sun gear of the planetary reducer and is used as an input shaft of the wheel hub motor reducer, the planet wheel 27 is arranged on the planet carrier 26 through the planet wheel shaft 28, the planet carrier 26 of the planetary reducer is used as an output shaft of the driving system 2, the planet carrier 26 is fixedly connected with the wheel hub flange plate 21 located outside the driving system shell 22 through the output shaft 25, the output shaft 25 is hollow in the middle, and a bearing 210 for supporting the planet carrier 26 is mounted on the output shaft 25, the wheel hub flange plate 21 is connected with the wheel 1, and an oil retaining ring 211 is arranged at a position close to the bearing 210. The brake system 3 includes a brake disc 32, an EMB brake system 31 and a brake end cover 33, wherein the brake disc 32 is fixedly connected with the planet carrier 26 of the driving system 2 through a brake connecting block 34, the EMB brake system 31 is fixedly connected with the driving system shell 22, the extension direction of the EMB brake system 31 is parallel to the output shaft 25, the EMB brake system 31 is located at a radial position of the driving system shell 22 and is located at an opening of the brake end cover 33, a brake caliper of the EMB brake system 31 is parallel to the brake disc 32, the brake caliper wraps an upper portion of the brake disc 32, and a gap is left between the brake caliper and the brake disc 32, and when braking, the EMB brake system 31 generates driving force to drive the brake caliper to clamp the brake disc 32.

[0046] As a specific embodiment, the driving system 2 and the brake system 3 are wrapped by a shell, and the shell includes the wheel side end cover 23, the brake end cover 33 and the driving system shell 22, the brake end cover 33 is provided with a window, and the EMB brake system 31 extends from the window; the wheel side end cover 23 is located between the wheel hub flange plate 21 and the driving system shell 22, the wheel side end cover 23 is completely closed and is internally provided with a sealing rubber ring; the driving system shell 22 is fixedly connected with the stator 24, and the driving system shell 22 is fixedly connected with a gear ring of the planetary reducer and is integrally formed; an end plate is arranged in the driving system shell 22, the end plate is provided with a sealing rubber ring and is used for separating the driving system 2 from the brake system 3, the driving system shell 22 and the wheel side end cover 23 seal the wheel hub motor and the wheel hub motor reducer, the brake system 3 is exposed and directly contacts with external air, so that air cooling can be used for cooling, and an internal oil cooling pipeline is arranged in the driving system shell 22 and is used for active cooling.

[0047] The wheel hub motor outputs power to the sun gear of the wheel hub motor reducer, i.e. the output shaft 25, through the rotor 29, and the planet carrier 26 of the wheel hub motor reducer transmits the power of the drive system 2 to the wheel hub flange 21 outside the drive system shell 22, so that the wheel hub flange 21 can drive the wheel 1 to move.

[0048] As a specific embodiment, the brake end cover 33 is provided in a spoke structure, and the side of the drive system shell 22 is provided with an opening for cooling.

[0049] Please refer to Figure 2 , Figure 5 and Figure 8 , the steering system 4 includes a steering knuckle 41, a steering motor 43, a steering pull rod 44 and a steering rocker 45. The steering knuckle 41 is fixedly connected with the brake end cover 33, one end of the steering pull rod 44 is connected with the steering knuckle 41 through a ball hinge, the other end of the steering pull rod 44 is connected with one end of the steering rocker 45 through a ball hinge, the other end of the steering rocker 45 is fixedly connected with the output shaft of the steering motor reducer, the steering motor 43 is connected with the steering motor reducer, the steering motor 43 and the steering motor reducer are both fixedly connected with the vehicle frame 6 along the driving direction of the vehicle, and the steering motor 43 is transversely arranged.

[0050] Please refer to Figure 2 , Figure 5 and Figure 8 , the suspension system 5 includes an upper link 51, a lower link 52 and a main suspension 53. One end of the upper link 51 is connected with the upper end of the steering knuckle 41 through a ball hinge, and the other end is connected with the vehicle frame 6 through a pin shaft, one end of the lower link 52 is connected with the lower end of the steering knuckle 41 through a ball hinge, and the other end is connected with the vehicle frame 6 through a pin shaft, one end of the main suspension 53 is connected with the lower link 52 through a pin shaft, and the other end is connected with the vehicle frame 6 through a pin shaft, and the suspension system can make the integrated drive and steering system move up and down.

[0051] When steering is to be performed, the steering motor 43 transmits power to the steering rocker 45, the steering rocker 45 transmits power to the steering knuckle 41 through the steering pull rod 44, and the steering knuckle 41 drives the wheel 1 to rotate clockwise and counterclockwise around the kingpin (in the case of independent suspension (double wishbone suspension), the kingpin is a virtual kingpin center line). The steering knuckle 41 rotates under the action of the steering force, and the upper link 51 and the lower link 52 swing through the ball hinges. When the vehicle is impacted by the road surface or moves up and down, the main suspension 53 adjusts its parameters according to the road conditions, applies a force to the lower link 52 through the pin shaft connection, drives the steering knuckle 41 and the wheel 1 to move up and down, and keeps the vehicle body stable.

[0052] As another specific embodiment, please refer to Figure 1 ,Figure 3 、 Figure 4 and Figure 7 , the steering system 4 includes steering knuckle 41, steering connecting piece 42 and steering motor 43. The steering knuckle 41 is fixedly connected with the brake end cover 33, the steering knuckle connecting piece 42 is connected with the steering knuckle 41, and the steering knuckle connecting piece 42 is optionally connected with the upper end of the steering knuckle 41. The steering connecting piece 42 can rotate clockwise and counterclockwise around the steering kingpin (i.e. the center line of the steering knuckle). The steering motor 43 is connected with the steering reducer, the output shaft of the steering motor reducer is fixedly connected with the steering knuckle 41, and further optionally, the steering motor 43 is transversely arranged with the steering reducer on the steering connecting piece 42.

[0053] Please refer to Figure 1 and Figure 4 , the suspension system 5 includes upper arm 51, lower arm 52 and active suspension 53. One end of the upper arm 51 is connected with the upper end of the steering knuckle 41 through a ball joint, and the other end is connected with the frame 6 through a pin shaft. One end of the lower arm 52 is connected with the steering connecting piece 42 through a pin shaft, and the other end is connected with the frame 6 through a pin shaft. One end of the active suspension 53 is connected with the lower arm 52 through a pin shaft, and the other end is connected with the frame 6 through a pin shaft. The upper arm 51 and the lower arm 52 of the suspension system 5 are respectively connected with the steering knuckle 41 through a ball joint, which ensures that the wheel 1 can work normally.

[0054] Optionally, the steering knuckle connecting piece 42 is connected with the upper end of the steering knuckle 41, one end of the upper arm 51 is connected with the steering connecting piece 42 through a pin shaft, and the other end is connected with the frame 6 through a pin shaft. One end of the lower arm 52 is connected with the lower end of the steering knuckle 41 through a ball joint, and the other end is connected with the frame 6 through a pin shaft. One end of the active suspension 53 is connected with the lower arm 52 through a pin shaft, and the other end is connected with the frame 6 through a pin shaft. The integrated drive steering system can move up and down through the suspension system.

[0055] When steering, the output power of the steering motor 43 is transmitted to the steering knuckle 41 through the steering knuckle connecting piece 42, and the steering knuckle 41 drives the wheel 1 to rotate clockwise and counterclockwise around the steering kingpin (in the case of independent suspension (double wishbone suspension), the steering kingpin is a virtual kingpin center line). The steering knuckle 41 rotates under the action of the steering force, and the upper arm 51 and the lower arm 52 realize corresponding swinging through the ball joint. When the vehicle is impacted by the road or the vehicle body moves up and down, the active suspension 53 adjusts its parameters according to the road conditions, applies a force to the lower arm 52 through the pin shaft connection, drives the steering knuckle 41 and the wheel 1 to move up and down, and keeps the vehicle body stable.

[0056] As a specific embodiment, the active suspension 53 adopts an air spring or a magneto-rheological damper, and the active suspension 53 integrates an adjusting unit for actively adjusting the dynamic deflection and damping parameter of the suspension. The above suspension system can make the integrated drive steering system move up and down.

[0057] The integrated drive steering system provided by the foregoing embodiments of the present application has two configurations, and the suspension system and the steering system both have symmetry and universality. In one configuration, Figure 1 ), the steering motor is connected with the control arm and the knuckle, the structure is compact, and the steering motor can directly drive the wheel to steer. In another configuration, Figure 2 ), the steering motor is connected with the vehicle frame, the unsprung mass is reduced, the handling is improved, the structure is mature, and the integrated drive steering system is easy to modify.

[0058] The integrated drive steering system provided by the foregoing embodiments of the present application has two configurations, and the suspension system and the steering system both have symmetry and universality. In one configuration, Figure 1 ), the steering motor can be located on the lower control arm, and the motor can be vertically arranged or horizontally arranged. In another configuration, Figure 2 ), the steering motor is located on the vehicle frame, the steering motor can be horizontally arranged, and the installation form and the installation position of the steering motor on the vehicle frame are various.

[0059] The above description of disclosed embodiments enables one skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent 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. Thus, the present 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 integrated drive-by-wire steering system based on in-wheel motors, characterized by, The driving system, the braking system, the steering system and the suspension system are included; The driving system includes a driving system shell, a wheel hub motor, a wheel hub motor reducer and a wheel hub flange plate, the wheel hub motor and the wheel hub motor reducer are located in the driving system shell, the wheel hub flange plate is located outside one side of the driving system shell, the wheel hub motor is drivingly connected with the wheel hub flange plate through the wheel hub motor reducer, and the wheel hub flange plate is used for being connected with a wheel; The braking system is located outside the driving system shell, and the braking system and the wheel hub flange plate are located on two sides of the driving system shell respectively, the braking system includes a brake end end cover, a brake disc and an EMB braking system, the brake disc is connected with a planet carrier of the driving system, the EMB braking system is fixedly connected with the driving system shell, an extension direction of the EMB braking system is parallel to the planet carrier, the EMB braking system is used for braking the brake disc, and the brake end end cover is located outside the brake disc; The steering system is arranged on the brake end end cover, and the suspension system is arranged on the steering system; The steering system includes a steering knuckle, a steering connecting piece and a steering motor, the steering knuckle is fixedly connected with the brake end end cover, and an output end of the steering motor is connected with the steering knuckle through the steering connecting piece; The suspension system includes an upper transverse arm, a lower transverse arm and a main suspension, the upper transverse arm and the lower transverse arm are oppositely arranged, one end of the upper transverse arm and the lower transverse arm is respectively hingedly connected with the steering knuckle, and the other end is used for being hingedly connected with a vehicle frame; and two ends of the main suspension are respectively used for being hingedly connected with the lower transverse arm and the vehicle frame. The steering motor is vertically or horizontally installed on the lower transverse arm; The steering system includes a steering knuckle, a steering motor, a steering rocker arm and a steering pull rod, the steering knuckle is fixedly connected with the brake end end cover, an output end of the steering motor is connected with the steering rocker arm, the steering rocker arm is hingedly connected with the steering pull rod, and the steering pull rod is hingedly connected with the steering knuckle; The suspension system includes an upper transverse arm, a lower transverse arm and a main suspension, the upper transverse arm and the lower transverse arm are oppositely arranged, one end of the upper transverse arm and the lower transverse arm is respectively hingedly connected with the steering knuckle, and the other end is used for being hingedly connected with a vehicle frame; and two ends of the main suspension are respectively used for being hingedly connected with the lower transverse arm and the vehicle frame.

2. The integrated drive-by-wire steering system based on in-wheel motors according to claim 1, characterized by, The wheel hub motor includes a stator, a rotor and an output shaft, the stator is connected with the driving system shell, the rotor is located in the stator, and the output shaft is connected with the rotor; the wheel hub motor reducer includes a planet carrier and a planet wheel arranged on the planet carrier, and the planet carrier is fixedly connected with the wheel hub flange plate located outside the driving system shell through the output shaft.

3. The integrated drive-by-wire steering system based on in-wheel motors according to claim 1, characterized by, An internal oil cooling pipeline is arranged in the driving system shell.

4. The integrated drive-by-wire steering system based on in-wheel motors according to claim 1, characterized by, A wheel side end cover is further included, and the wheel side end cover is located between the wheel hub flange plate and the driving system shell.

5. The integrated drive-by-wire steering system based on in-wheel motors according to claim 1, characterized by, The brake end end cover is provided with an opening, and the EMB braking system extends from the opening.

6. The integrated drive-by-wire steering system based on in-wheel motors according to claim 1, characterized by The steering motor is located on the vehicle frame.

7. The integrated drive-by-wire steering system based on in-wheel motors according to any one of claims 1 to 6, characterized in that, The main suspension adopts an air spring or a magneto-rheological damper.

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