Distributed driving chassis platform with four wheels steering independently

Abstract

The utility model discloses a distributed driving chassis platform with four wheels steering independently. Comprising a vehicle chassis assembly and vehicle suspension systems, the vehicle suspension systems are arranged at the positions of all wheels, all the vehicle suspension systems are not connected with one another and are independent of one another, and the vehicle suspension systems at the positions of all the wheels are electrically connected to a trip computer and a battery of a vehicle; in an automobile suspension system, the top of a steering knuckle is directly connected with a steering module, the upper portion and the lower portion of the steering knuckle are connected with an angle module installation plate through an upper control arm and a lower control arm respectively, an air spring is arranged between the lower control arm and the angle module installation plate, the steering knuckle is installed on a hub structure, and the hub structure is provided with a tire rim and a brake. Four-wheel independent driving and four-wheel independent steering can be supported under the chassis platform, the functions of in-situ steering, horizontal transverse moving and parking of the whole vehicle are achieved, the ultra-small turning radius is achieved during turning, the turning angle is large, the structure and performance are reliable, and expansibility is high.

Description

Technical Field

[0001] The utility model relates to the field of new energy vehicles, specifically to a suspension and steering system of new energy vehicles, and in particular to a distributed drive chassis platform with four-wheel independent steering. Background Art

[0002] As the trend of the "new four modernizations" continues to deepen, intelligence and networking have gradually become the protagonists of the automotive industry. The development of intelligent and connected vehicles will bring unprecedented changes and opportunities to the industry. With the disappearance of the demographic dividend, driverless cars face unprecedented development opportunities.

[0003] General-purpose intelligent wire-controlled vehicles refer to autonomous driving vehicles that completely omit human driving mechanisms and are used to replace humans in performing a variety of specific tasks, including logistics, distribution, transportation, cleaning, ferrying, retail, patrolling, combat, attack, reconnaissance and other military or civilian tasks, but the low-speed environment is more complex.

[0004] However, there are currently few fully automated, mass-producible, and automotive-grade fully controlled-by-wire chassis on the market. These products face numerous challenges, including closed protocols, high modification costs, low control accuracy, poor system reliability, and limited generality and modularity. With the rapid development of new energy vehicles, existing technologies primarily replace the engine with a central motor, without altering the overall vehicle structure or transmission. Furthermore, they utilize traditional suspension and steering mechanisms, preventing independent steering of each wheel. This results in a large turning radius, making turns and U-turns in confined areas difficult.

[0005] With the development of drive-by-wire and electrification, EMBs and in-wheel motors have emerged. Urgent challenges currently include rationally designing the suspension, braking, steering, and drive systems to effectively integrate in-wheel motors with the suspension and steering mechanisms; reducing the vehicle's minimum turning radius to enable easy turns and U-turns on narrow streets; and designing the suspension guidance system to control suspension stiffness and damping to enhance vehicle handling and comfort. Utility Model Content

[0006] In order to solve the problems existing in the background technology, the technical problem to be solved by the present invention is to propose a distributed drive chassis platform with wire-controlled four-wheel independent steering and independent drive.

[0007] The chassis platform of this utility model enables efficient integration of the drive, braking, steering and suspension systems, obtains a larger interior space, realizes human-machine decoupling in terms of maneuverability and comfort, and greatly improves the response, precision and system safety of various functions such as drive and braking.

[0008] In order to realize the above-mentioned vehicle intelligent control system, the core technical solutions adopted by this utility model are as follows:

[0009] The utility model comprises a vehicle chassis assembly, an independent steering module, an EMB, a CDC and a vehicle suspension system. The vehicle suspension system is arranged at each wheel of the vehicle chassis assembly, and the vehicle suspension systems at each wheel are not connected to each other and are independent of each other.

[0010] The vehicle suspension system at each wheel is electrically connected to the vehicle's on-board computer and battery.

[0011] Each of the automobile suspension systems includes a corner module mounting plate, an upper control arm, a lower control arm, an air spring and electronic damper CDC assembly, a steering module, and a steering knuckle; the steering module is directly connected to the top of the steering knuckle, and the upper and lower parts of the steering knuckle are respectively connected via the upper control arm, the lower control arm and the corner module mounting plate. At the same time, an air spring and electronic damper CDC assembly is also connected between the lower control arm and the corner module mounting plate. The steering knuckle is fixedly mounted on the wheel hub structure, and the tire rim and brake are installed on the wheel hub structure.

[0012] The upper control arms are respectively connected to the upper rear control arms and the upper front control arms, and the upper rear control arms and the upper front control arms are located at the rear and front sides respectively; a steering motor fixing seat is fixed on the top of the steering knuckle, and the front and rear sides of the steering motor fixing seat are respectively connected to the upper part of the corner module mounting plate through the upper front control arm and the upper rear control arm; at the same time, the lower control arm is in the shape of a "human", and the middle intersection of the "human" shape of the lower control arm is connected to the top of the corner module mounting plate after passing through the air spring and electronic damper CDC assembly.

[0013] The "human" shaped collective end of the lower control arm is hinged to the bottom of the steering knuckle, and its hinge axis is arranged in the vertical direction; the two ends of the "human" shaped forked end of the lower control arm are respectively hinged to the bottom of the corner module mounting plate, and its hinge axis is arranged in the horizontal direction; the outer ends of the upper front control arm and the upper rear control arm are respectively hinged to the steering motor fixing seat, and their hinge axes are arranged in the horizontal direction; the inner ends of the upper front control arm and the upper rear control arm are respectively hinged to the bottom of the corner module mounting plate, and their hinge axes are arranged in the horizontal direction; the lower end of the air spring and electronic damper CDC assembly is hinged to the middle intersection of the "human" shape of the lower control arm, and its hinge axis is arranged in the horizontal direction.

[0014] The upper end of the air spring and electronic damper CDC assembly passes through the space between the upper front control arm and the upper rear control arm and is connected to the corner module mounting plate.

[0015] The air spring and electronic damper CDC assembly adopts a purely electronically controlled structure.

[0016] The main body of the corner module mounting plate is a vertical plate, the top of the vertical plate is horizontally bent and extended toward the wheel hub, the upper and lower parts of the vertical plate are respectively connected to the upper control arm and the lower control arm, and the part where the top of the vertical plate is horizontally bent and extended toward the wheel hub is connected to the air spring and electronic damper CDC assembly.

[0017] The wheel hub structure includes an electronic mechanical caliper EMB, a hub motor assembly, a tire rim assembly, a brake disc, a hub unit and a hub motor fixing plate. The steering knuckle is fixedly mounted on the inner end face of the hub motor fixing plate, the hub motor assembly is mounted on the outer periphery of the outer end face of the hub motor fixing plate, the hub unit is mounted in the middle of the outer end face of the hub motor fixing plate, the brake disc is fixedly mounted on the hub unit, the electronic mechanical caliper EMB is mounted on the side of the hub motor fixing plate, the hub motor assembly is mounted on the outer periphery of the hub unit, and the tire rim assembly is sleeved outside the hub motor assembly.

[0018] The electronic mechanical caliper EMB and the hub motor assembly are both purely electronically controlled structures.

[0019] The utility model adopts a suspension system with a special structural design and a designed corner module. Vehicles using the corner module of the utility model can realize the functions of turning around on the spot, horizontal lateral movement, and diagonal movement of the entire vehicle, and achieve an ultra-small turning radius when turning; the air spring can realize dynamic adjustment of stiffness and damping, and can make the vehicle height adjustable. The dynamic matching of stiffness and damping improves the maneuverability and comfort of the vehicle under different working conditions; EMB can avoid the layout of the brake lines of the traditional braking system, reduce the difficulty of developing different chassis for the corner module, and at the same time, EMB can reduce the response time of the braking force control of each wheel, thereby improving the safety of the vehicle.

[0020] The utility model supports four-wheel independent control of driving, steering, braking and suspension. These functions can be operated through the vehicle control system, and the vehicle automatically realizes the above special functions.

[0021] The beneficial effects of the utility model are:

[0022] Electric vehicles now generally use a central motor, hydraulic brakes, rack and pinion steering, and coil spring dampers. The utility model decouples the braking, driving, steering and other systems, so that each wheel can be controlled individually, providing multiple controllable degrees of freedom, supporting the adjustment of the four wheel braking force, driving force, wheel angle, and the damping and stiffness of the suspension, thereby improving the upper limit of chassis maneuverability, stability, safety and economy, and further improving the requirements of autonomous driving for precise control of the chassis trajectory.

[0023] Moreover, the present invention integrates braking, driving, steering and other systems, thereby achieving a larger steering angle and a higher degree of freedom while also achieving a higher degree of integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 This is an exploded view of the structure of the present utility model;

[0026] Figure 3 Schematic diagram of the upper front cross arm structure;

[0027] Figure 4 Schematic diagram of the upper rear swing arm structure;

[0028] Figure 5 Schematic diagram of the air spring structure;

[0029] Figure 6 Schematic diagram of the lower arm structure;

[0030] Figure 7 This is a schematic diagram of the corner module mounting plate structure;

[0031] Figure 8 Schematic diagram of the steering knuckle structure;

[0032] Figure 9 This is the working status diagram of the forward mode;

[0033] Figure 10 This is the working state diagram of the front and rear wheel deflection and on-the-spot steering;

[0034] Figure 11 This is the working state diagram of the four-wheel differential in-situ steering;

[0035] Figure 12 This is the working state diagram of oblique steering;

[0036] Figure 13 This is the working state diagram of traverse and steering;

[0037] Figure 14 This is a diagram of the pivot steering working state.

[0038] Figure: 1. Corner module mounting plate, 2. Lower control arm, 3. Air spring and electronic damper (CDC) assembly, 4. Upper rear control arm, 5. Upper front control arm, 6. Electromechanical caliper (EMB), 7. Steering motor mounting bracket, 8. Steering module, 10. Steering knuckle, 11. Wheel hub motor assembly, 12. Tire and rim assembly, 13. Brake disc, 14. Wheel hub unit, 15. Wheel hub motor mounting plate.

[0039] 101 - upper front control arm mounting seat; 102 - lower control arm front point mounting seat, 103 - lower control arm rear point mounting seat, 104 - corner module mounting plate body, 105 - upper rear control arm mounting seat, 106 - air spring mounting seat;

[0040] 201-lower arm ball joint, 202-lower arm body, 203-lower arm front bushing, 204-lower arm rear bushing;

[0041] 301-air spring, 302-air spring seat, 303-air spring mounting seat bushing;

[0042] 401-upper rear control arm body, 402-upper rear control arm inner bushing, 403-upper rear control arm outer bushing;

[0043] 501-upper front control arm body, 502-upper front control arm inner bushing, 503-upper front control arm outer bushing. DETAILED DESCRIPTION

[0044] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0045] The distributed drive chassis platform of the present invention includes a vehicle chassis assembly, an independent steering module, an EMB, a CDC and a vehicle suspension system. The vehicle suspension system is arranged at each wheel of the vehicle chassis assembly, and the vehicle suspension systems at each wheel are not connected to each other and are independent of each other.

[0046] The vehicle suspension systems at each wheel are electrically connected to the vehicle's onboard computer and battery, and there is no oil circuit or mechanical transmission structure connected to a power structure or hydraulic structure of the vehicle.

[0047] like Figure 1 and Figure 2 As shown, the automobile suspension system at each wheel includes an angle module mounting plate 1, an upper control arm, a lower control arm 2, an air spring and electronic damper CDC assembly 3, a steering motor fixing seat 7, a steering module 8, a steering knuckle 10, a hub motor assembly 11, a tire rim assembly 12, a brake disc 13, a hub unit 14 and a hub motor fixing plate 15, etc.

[0048] The steering module 8 is directly attached to the top of the steering knuckle 10. The knuckle, steering module, and motor mount are not connected to the vehicle frame. The steering module and motor mount are connected to the knuckle, and the knuckle is then connected to the vehicle frame via suspension system rods. The upper and lower portions of the steering knuckle 10 are connected via the upper and lower control arms 2, respectively, and the corner module mounting plate 1. The corner module mounting plate 1 is fixed to the vehicle frame. The air spring and electronic damper CDC assembly 3 is also connected between the lower control arm 2 and the corner module mounting plate 1. The steering knuckle 10 is fixedly mounted to the wheel hub structure, which is where the tire, rim, brake, and other components are mounted.

[0049] A flange is provided at the top of the steering knuckle 10, which is directly and coaxially fixedly connected to the output end of the steering module 8; the steering module 8 has a built-in motor and is only driven by electricity to rotate, and is a purely electronically controlled structure.

[0050] The upper control arms are respectively located at the upper rear control arm 4 on the rear side of the vehicle and the upper front control arm 5 on the front side of the vehicle, and the upper rear control arm 4 and the upper front control arm 5 are located at the rear and front sides respectively; a steering motor fixing seat 7 is fixed on the top of the steering knuckle 10, and the front and rear sides of the steering motor fixing seat 7 are respectively connected to the upper part of the corner module mounting plate 1 through the upper front control arm 5 and the upper rear control arm 4.

[0051] At the same time, the lower control arm 2 is in a "human" shape, and the middle intersection of the "human" shape of the lower control arm 2 is connected to the top of the corner module mounting plate 1 after passing through the air spring and electronic damper CDC assembly 3.

[0052] The collective end of the "human" shape of the lower control arm 2 is hinged to the bottom of the steering knuckle 10, and its hinge axis at the hinge is arranged in the vertical direction; the two ends of the forked end of the "human" shape of the lower control arm 2 are respectively hinged to the bottom of the corner module mounting plate 1, and its hinge axis at the hinge is arranged along the horizontal vehicle front and rear direction; the outer ends of the upper front control arm 5 and the upper rear control arm 4 are respectively hinged to the two sides of the steering motor fixing seat 7, and their hinge axes at the hinge are arranged along the horizontal vehicle front and rear direction; the inner ends of the upper front control arm 5 and the upper rear control arm 4 are respectively hinged to the two sides of the bottom of the corner module mounting plate 1, and their hinge axes at the hinge are arranged along the horizontal vehicle front and rear direction; the lower end of the air spring and electronic damper CDC assembly 3 is hinged to the middle intersection of the "human" shape of the lower control arm 2, and its hinge axis at the hinge is arranged along the horizontal vehicle front and rear direction.

[0053] The upper end of the air spring and electronic damper CDC assembly 3 is fixedly connected to the corner module mounting plate 1. Specifically, the upper front control arm 5 and the upper rear control arm 4 are located on either side of the air spring and electronic damper CDC assembly 3, with a gap between them. The upper end of the air spring and electronic damper CDC assembly 3 passes through the space between the upper front control arm 5 and the upper rear control arm 4 and is fixedly connected to the corner module mounting plate 1.

[0054] The air spring and electronic damper CDC assembly 3 adopts a purely electronic control structure, that is, it is only controlled by wire.

[0055] The main body of the corner module mounting plate 1 is a vertical plate. The top of the vertical plate is horizontally bent and extended toward the wheel hub. The upper and lower parts of the vertical plate are respectively connected to the upper control arm and the lower control arm 2. The part where the top of the vertical plate is horizontally bent and extended toward the wheel hub is connected to the air spring and electronic damper CDC assembly 3.

[0056] like Figure 8 As shown, the steering knuckle 10 is formed as a one-piece structure by stamping.

[0057] like Figure 1 and Figure 2As shown, the wheel hub structure includes an electronic mechanical caliper EMB6, a hub motor assembly 11, a tire rim assembly 12, a brake disc 13, a hub unit 14 and a hub motor fixing plate 15. The electronic mechanical caliper EMB6 and the brake disc 13 constitute a brake, the steering knuckle 10 is fixedly mounted on the inner end face of the hub motor fixing plate 15, the hub motor assembly 11 is mounted on the outer periphery of the outer end face of the hub motor fixing plate 15, the hub unit 14 is mounted in the middle of the outer end face of the hub motor fixing plate 15, the brake disc 13 is fixedly mounted on the hub unit 14, the electronic mechanical caliper EMB6 is mounted on the outer peripheral side of the hub motor fixing plate 15, the hub motor assembly 11 is mounted on the outer periphery of the hub unit 14, and the tire rim assembly 12 is sleeved outside the hub motor assembly 11.

[0058] Bolts on the wheel hub unit 14 pass through the brake disc 13, the wheel hub motor assembly 11, the tire rim assembly 12, and the wheel hub nuts on the outside of the tire rim assembly 12. The electronic mechanical caliper EMB6 is bolted to the wheel hub motor mounting plate 15. The aforementioned wheel hub and wheel assembly are bolted to the wheel hub motor mounting plate 15, and the entire assembly is bolted to the steering knuckle 10. The corner module mounting plate 1 is also bolted to the vehicle body frame.

[0059] The electronic mechanical caliper EMB6 and the hub motor assembly 11 are both purely electronically controlled structures, that is, they are only controlled by wire.

[0060] In specific implementation, Figure 3 As shown, the upper front control arm 5 includes an upper front control arm body 501, an upper front control arm inner bushing 502 and an upper front control arm outer bushing 503. Horizontal axial through holes are provided at both ends of the upper front control arm body 501, and the upper front control arm inner bushing 502 and the upper front control arm outer bushing 503 for hinged connection are respectively installed in the two through holes.

[0061] like Figure 4 As shown, the upper rear control arm 4 includes an upper rear control arm body 401, an upper rear control arm inner bushing 402 and an upper rear control arm outer bushing 403. Horizontal axial through holes are provided at both ends of the upper rear control arm body 401, and the upper rear control arm inner bushing 402 and the upper rear control arm outer bushing 403 for hinged connection are respectively installed in the two through holes.

[0062] like Figure 5 As shown, the air spring and electronic damper CDC assembly 3 includes an air spring 301, an air spring seat 302, and an air spring mounting seat bushing 303. The air spring 301 is installed on the air spring seat 302. A horizontal axial through hole is provided at the bottom of the air spring seat 302, and an air spring mounting seat bushing 303 for hinged connection is installed in the through hole.

[0063] like Figure 6As shown, the lower control arm 2 includes a lower control arm ball head 201, a lower control arm body 202, a lower control arm front bushing 203, and a lower control arm rear bushing 204. The lower control arm body 202 is in the shape of a human figure. The convergent end of the human figure has a vertical axial through-hole, into which the lower control arm ball head 201 for an articulated connection is installed. The bifurcated end of the human figure has horizontal axial through-holes, into which the lower control arm front bushing 203 and the lower control arm rear bushing 204 for an articulated connection are installed, respectively. An articulated seat structure is provided at the middle intersection of the human figure for articulated connection with the air spring and electronic damper CDC assembly 3.

[0064] like Figure 7 As shown, the corner module mounting plate 1 includes a corner module mounting plate body 104, which is formed by the top of the vertical plate being horizontally bent and extended toward the wheel hub, and the bottom of the corner module mounting plate body 104 is provided with a lower control arm front point mounting seat 102 and a lower control arm rear point mounting seat 103 respectively used to be hinged to the two forked ends of the lower control arm 2, and the upper middle part of the corner module mounting plate body 104 is provided with an upper front control arm mounting seat 101 and an upper rear control arm mounting seat 105 respectively used to be hinged to the upper front control arm 5 and the upper rear control arm 4, and the dome formed by the top of the corner module mounting plate body 104 being horizontally bent and extended toward the wheel hub is provided with an air spring mounting seat 106 connected and installed with the electronic mechanical caliper EMB6.

[0065] Specifically, one end of the upper front control arm 5 and the upper rear control arm 4 is hinged to the corner module mounting plate body 104 through the upper front control arm mounting seat 101 and the upper rear control arm mounting seat 105. The upper front control arm mounting seat 101 and the upper rear control arm mounting seat 105 are both fixed to the corner module mounting plate body 104 through bolts. The other end of the upper front control arm 5 and the upper rear control arm 4 is hinged to the steering motor fixing seat 7.

[0066] The outer shell of the steering module 8 is fixed to the steering motor fixing seat 7 by bolts. The steering module 8 has an output shaft fixed to the steering knuckle 10 by bolts. One end of the lower control arm 2 is connected to the steering knuckle 10 by a ball joint. The other end of the lower control arm 2 is hinged to the front point mounting seat 102 of the lower swing arm and the rear point mounting seat 103 of the lower swing arm. The front point mounting seat 102 of the lower swing arm and the rear point mounting seat 103 of the lower swing arm are both fixed to the corner module mounting plate body 104 by bolts.

[0067] The steering knuckle 10 rotates around the axis formed by the axis of the output shaft and the center of the ball joint of the lower control arm 2. The air spring mounting seat 106 is fixed to the air spring and electronic damper CDC assembly 3 by bolts. One end of the air spring and electronic damper CDC assembly 3 is hinged to the lower control arm 2, and the other end is connected to the air spring mounting seat 106.

[0068] In the above structure, the utility model directly installs the steering module 8 on the steering knuckle 10, and also introduces a steering motor fixing seat 7, so that the upper and lower parts of the steering knuckle 10 are directly hinged to the corner module mounting plate 1 in a specific structure, so that the steering knuckle 10 is cleverly connected through the upper front control arm 5, the upper rear control arm 4, the lower control arm 2 and the corner module mounting plate 1 to form a new suspension structure. Compared with traditional McPherson suspension and other structures, the number of rods between the steering knuckle and the mounting plate is reduced, and it has better advantages such as a larger steering angle and a higher degree of freedom.

[0069] Moreover, the internal structure of the present invention adopts electronic wire control, which does not require hydraulic and mechanical power input and transmission connection. The steering module 8 directly drives the steering knuckle 10 to rotate in a coaxial manner and then drives the entire wheel hub and tire structure to rotate, realizing free and independent control and movement of the chassis wheels, with higher integration.

[0070] Under the structural design of this utility model, the four wheels of the vehicle chassis are equipped with a suspension system, which can work in the following different modes:

[0071] Front wheel steering mode: Figure 9 As shown, only the front wheel suspension system controls the wheels to rotate in the steering direction, while the rear wheel suspension system controls the wheels to maintain the original vehicle direction. If, when turning right, the left and right wheel angles meet a certain angle relationship, and the right wheel angle is greater than the left wheel angle, front-wheel steering is achieved.

[0072] Front and rear wheel deflection in-situ steering mode: wheel angle status is as follows Figure 10 As shown, the wheels are controlled by the suspension system of the four wheels to rotate around a tangent in a circular direction. Generally, the wheel turning angle is 68°, so that the chassis can turn in place.

[0073] In-situ steering differential mode: The suspension system of the four wheels controls the wheels to keep the original vehicle direction from rotating, that is, to keep the four wheels at a zero steering angle, and to achieve in-situ steering of the chassis through the speed difference of the four wheels, such as Figure 11 As shown;

[0074] Oblique steering mode: The suspension system of the four wheels controls the rotation of the wheels in the steering direction. The steering angles of the four wheels are different. Figure 12 As shown, the chassis can be turned obliquely;

[0075] Lateral mode: The suspension system of the four wheels controls the rotation of the wheels to be perpendicular to the original vehicle direction. The wheel angle is as follows: Figure 13 As shown, the chassis can be moved laterally;

[0076] Pivot steering mode: The front wheel suspension system controls the wheels to rotate perpendicular to the original vehicle direction, and the rear wheel suspension system controls the wheels to maintain the original vehicle direction, that is, keep the front wheel angle at 0 degrees and the rear wheel angle at 90 degrees. Figure 14 As shown, when turning left, the left front wheel reverses, the right front wheel rotates forward, the left rear wheel reverses, and the right rear wheel rotates forward, achieving pivot steering.

[0077] As can be seen from the above, the utility model has a strong expansion capability through modular design. By reasonably adjusting the wheelbase and track between the front and rear wheels, it can quickly expand the chassis requirements to adapt to different scenarios.

[0078] Furthermore, this new system uses software to adjust spring stiffness and brake force distribution for different load conditions to meet varying load requirements. This software, located within the vehicle domain controller, matches the CDC air spring stiffness to each vehicle type based on vehicle parameters such as weight, wheelbase, and track width. This is similar to how current vehicles have Comfort, Normal, and Sport modes.

[0079] The above specific implementation methods are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

[0080] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, features and principles described in the scope of the present invention patent application are included in the scope of the present invention patent application.

Claims

1. A distributed drive chassis platform with four-wheel independent steering, characterized by: The vehicle chassis assembly comprises a vehicle suspension system, wherein each wheel of the vehicle chassis assembly is provided with the vehicle suspension system, and the vehicle suspension systems at each wheel are not connected to each other and are independent of each other.

2. The four-wheel independent steering distributed drive chassis platform according to claim 1, characterized in that: The vehicle suspension system at each wheel is electrically connected to the vehicle's on-board computer and battery.

3. The four-wheel independent steering distributed drive chassis platform according to claim 1, characterized in that: Each automobile suspension system comprises an angle module mounting plate (1), an upper control arm, a lower control arm (2), an air spring and an electronic damper CDC assembly (3), a steering module (8), and a steering knuckle (10); the steering module (8) is directly connected to the top of the steering knuckle (10), the upper and lower parts of the steering knuckle (10) are connected via the upper control arm, the lower control arm (2) and the angle module mounting plate (1), respectively, and the air spring and the electronic damper CDC assembly (3) are also connected between the lower control arm (2) and the angle module mounting plate (1); the steering knuckle (10) is fixedly mounted on a wheel hub structure, and a tire rim and a brake are mounted on the wheel hub structure.

4. The four-wheel independent steering distributed drive chassis platform according to claim 3, characterized in that: The upper control arms are respectively connected to the upper rear control arm (4) and the upper front control arm (5), and the upper rear control arm (4) and the upper front control arm (5) are respectively located at the rear side and the front side; a steering motor fixing seat (7) is fixed on the top of the steering knuckle (10), and the front and rear sides of the steering motor fixing seat (7) are respectively connected to the upper part of the corner module mounting plate (1) via the upper front control arm (5) and the upper rear control arm (4); At the same time, the lower control arm (2) is in the shape of a "human" and the middle intersection of the "human" shape of the lower control arm (2) is connected to the top of the corner module mounting plate (1) after passing through the air spring and electronic damper CDC assembly (3).

5. The four-wheel independent steering distributed drive chassis platform according to claim 4, characterized in that: The "human"-shaped collective end of the lower control arm (2) is hinged to the bottom of the steering knuckle (10), and its hinge axis is arranged in the vertical direction; both ends of the "human"-shaped bifurcated end of the lower control arm (2) are respectively hinged to the bottom of the corner module mounting plate (1), and its hinge axis is arranged in the horizontal direction; the outer ends of the upper front control arm (5) and the upper rear control arm (4) are respectively hinged to the steering motor fixing seat (7), and their hinge axes are arranged in the horizontal direction; the inner ends of the upper front control arm (5) and the upper rear control arm (4) are respectively hinged to the bottom of the corner module mounting plate (1), and their hinge axes are arranged in the horizontal direction; the lower end of the air spring and electronic damper CDC assembly (3) is hinged to the middle intersection of the "human" shape of the lower control arm (2), and its hinge axis is arranged in the horizontal direction.

6. The four-wheel independent steering distributed drive chassis platform according to claim 3, characterized in that: The upper end of the air spring and electronic damper CDC assembly (3) passes through the space between the upper front control arm (5) and the upper rear control arm (4) and is connected to the corner module mounting plate (1).

7. The four-wheel independent steering distributed drive chassis platform according to claim 3, characterized in that: The air spring and electronic damper CDC assembly (3) adopts a purely electronically controlled structure.

8. The four-wheel independent steering distributed drive chassis platform according to claim 3, characterized in that: The main body of the corner module mounting plate (1) is a vertical plate, the top of the vertical plate is horizontally bent and extended toward the wheel hub, the upper and lower parts of the vertical plate are respectively connected to the upper control arm and the lower control arm (2), and the part of the top of the vertical plate that is horizontally bent and extended toward the wheel hub is connected to the air spring and electronic damper CDC assembly (3).

9. The four-wheel independent steering distributed drive chassis platform according to claim 3, characterized in that: The wheel hub structure comprises an electronic mechanical caliper EMB (6), a wheel hub motor assembly (11), a tire rim assembly (12), a brake disc (13), a wheel hub unit (14) and a wheel hub motor fixing plate (15); the steering knuckle (10) is fixedly mounted on the inner end face of the wheel hub motor fixing plate (15); the wheel hub motor assembly (11) is mounted on the outer periphery of the outer end face of the wheel hub motor fixing plate (15); the wheel hub unit (14) is mounted in the middle of the outer end face of the wheel hub motor fixing plate (15); the brake disc (13) is fixedly mounted on the wheel hub unit (14); the electronic mechanical caliper EMB (6) is mounted on the side of the wheel hub motor fixing plate (15); the wheel hub motor assembly (11) is mounted on the outer periphery of the wheel hub unit (14); and the tire rim assembly (12) is sleeved outside the wheel hub motor assembly (11).

10. The four-wheel independent steering distributed drive chassis platform according to claim 9, characterized in that: The electronic mechanical caliper EMB (6) and the wheel hub motor assembly (11) are both purely electronically controlled structures.

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