Steering angle module and vehicle

Abstract

The utility model belongs to the technical field of vehicle control, and particularly relates to a steering angle module and a vehicle. The steering angle module comprises a bogie, a steering motor, a wheel side system and a multi-connecting-rod structure. The bogie is arranged in the Z direction; the steering motor is arranged at the top end of the bogie and can be connected with a vehicle body. The wheel side system is arranged on one side of the bogie in the Y direction. The multi-link structure is connected to the bogie and the wheel side system. The steering motor can drive the bogie to drive the wheel side system and the multi-connecting-rod structure to rotate around the axis of the steering motor together. In the process that the steering motor drives the bogie to rotate, the bogie can drive the multi-connecting-rod structure, then the wheel side system is driven to rotate together, and steering is achieved. Therefore, the reliability in the steering process is ensured through the multi-connecting-rod structure, and the steering angle module has good operation stability.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, and in particular relates to a steering angle module and a vehicle. Background Technology

[0002] The steering angle module integrates multiple systems such as electric drive, steer-by-wire, brake-by-wire, and chassis suspension, which can significantly improve the control capabilities of the whole vehicle and realize complex driving trajectory control, such as turning on the spot, 90° steering, and lateral translation, greatly expanding the vehicle's driving capabilities.

[0003] Currently, there are three main types of steering angle modules on the market: Mobis steering angle module, Schaeffler steering angle module, and Protean steering angle module. Although all three types of steering angle modules can achieve 90° steering, they cannot accommodate conventional lateral stabilizer bar structures due to the need to meet large-angle steering requirements. As a result, their body roll control is compromised, reducing the vehicle's cornering ability. Utility Model Content

[0004] This application provides a steering angle module and a vehicle to solve the technical problem of stability deviation caused by the need to meet large-angle steering requirements.

[0005] According to one aspect of this application, a steering angle module is provided, comprising a bogie, a steering motor, a wheel-side system, and a multi-link structure. The bogie is inclined in the Z-direction; the steering motor is located at the top of the bogie and can be connected to the vehicle body; the wheel-side system is located on one side of the bogie in the Y-direction; and the multi-link structure connects the bogie and the wheel-side system. The steering motor can drive the bogie to rotate together with the wheel-side system and the multi-link structure around the axis of the steering motor.

[0006] In the optional embodiment of this application, the multi-link structure includes an upper link, a lower link, and a toe-in telescopic rod; the upper link is located on both sides of the bogie in the X direction, and the lower link is located on both sides of the lower part of the bogie in the X direction; the upper link is located above the lower link, and the toe-in telescopic rod is located on one side of the bogie in the X direction and between the upper link and the lower link in the Z direction, and the toe-in telescopic rod can extend and retract along the length direction of the toe-in telescopic rod.

[0007] In an optional embodiment of this application, a lower control arm is also included. The lower control arm is connected to the bottom end of the bogie and located below the lower link. The control arm extends inward from the bogie in the Y direction and forms an interface for splicing with the car body.

[0008] In the optional embodiment of this application, a steering damper is also included, which is located between the lower link and the lower control arm in the Z direction; one axial end of the steering damper is connected to the bottom end of the bogie, and the other end extends inward in the Y direction and can be connected to the vehicle body.

[0009] In the optional solutions of this application, a sliding column assembly is also included, with its axial ends connected to the bogie and wheel-side system respectively. The sliding column assembly is located between the upper connecting rods and the lower connecting rods on both sides in the X direction.

[0010] In an optional embodiment of this application, the wheel-side system includes a hub motor mounting bracket and a wheel running structure; the hub motor mounting bracket is connected to the wheel running structure and located on the axial inner side of the wheel running structure, and the hub motor mounting bracket has multiple interfaces for accommodating the multi-link structure and the slide column assembly.

[0011] In an optional embodiment of this application, the wheel running structure includes a wheel, a braking device, a braking system, and a hub motor. The braking system includes a braking device and a hub bearing. The braking device includes a brake disc, a brake caliper, and a brake caliper mounting bracket. The wheel, brake disc, hub bearing, and hub motor are connected sequentially along the wheel's axial direction. The hub motor is connected to the hub motor mounting bracket. The brake caliper mounting bracket is connected to the hub motor and located on the axial side of the hub motor near the wheel. The brake caliper is connected to the brake caliper mounting bracket and is capable of locking or releasing the brake disc.

[0012] In the optional embodiment of this application, the wheel running structure includes a wheel and a braking system. The braking system includes a braking device, a wheel hub bearing, and a steering knuckle. The braking device includes a brake disc and a brake caliper. The wheel, brake disc, wheel hub bearing, and steering knuckle are connected in sequence along the axial direction of the wheel. The brake caliper and the steering knuckle are both connected to the wheel hub motor mounting bracket. The brake caliper can lock or release the brake disc.

[0013] In an optional embodiment of this application, the bogie is a front-to-back symmetrical structure with respect to the Y-axis centerline passing through the steering motor.

[0014] According to another aspect of this application, a vehicle is provided that includes the aforementioned steering angle module.

[0015] In summary, the steering angle module and vehicle provided in this application have at least the following beneficial effects:

[0016] The steering angle module includes at least a bogie, a steering motor, a wheel-side system, and a multi-link structure. The bogie is the main load-bearing component of the steering angle module, and the other components of the steering angle module are laid out based on the bogie.

[0017] The bogie, together with the steering motor, forms the steering function unit in the steering angle module. The wheel-side system is the travel function unit of the steering angle module. The multi-link structure connects the steering function unit and the travel function unit together.

[0018] During the rotation of the bogie driven by the steering motor, the bogie can drive the multi-link structure, which in turn drives the wheel-side system to rotate, thus achieving steering. This multi-link structure ensures reliability during steering, giving the steering angle module good handling stability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application; those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0020] Figure 1 This is a schematic diagram of a steering angle module according to one embodiment of this application;

[0021] Figure 2 An exploded view of a steering angle module provided according to one embodiment of this application;

[0022] Figure 3 An exploded view of a steering angle module provided according to another embodiment of this application;

[0023] Figure 4 for Figure 3 Exploded view of the central braking device and the hub motor mounting bracket.

[0024] The attached figures are labeled as follows:

[0025] 1000, Steering Angle Module;

[0026] 10. Bogie; 20. Steering motor;

[0027] 30, 30', Wheel-side system; 31, 31', Hub motor mounting bracket;

[0028] 32. Wheel running structure; 321. Wheel; 322. Braking system; 3221. Brake disc; 3222. Brake caliper; 3223. Brake caliper mounting bracket; 323. Wheel hub bearing; 324. Wheel hub motor

[0029] 32' Wheel running gear; 321' Wheel; 322' Braking system; 3221' Brake disc; 3222' Brake caliper; 323' Wheel hub bearing; 324' Steering knuckle; 325' Mudguard;

[0030] 40. Multi-link structure; 41. Upper link; 42. Lower link; 43. Toe-in telescopic rod;

[0031] 50. Control arm;

[0032] 60. Steering damper;

[0033] 70. Sliding column assembly;

[0034] 80. Ball pin. Detailed Implementation

[0035] In this application, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0037] In the description of this application, the "X direction", "Y direction" and "Z direction" are determined based on a Cartesian coordinate system constructed based on the vehicle. The X direction is the direction where the front and rear of the vehicle are located, that is, the front-to-back direction; the Y direction is the direction where the left and right wheels are located, that is, the left-to-right direction; and the Z direction is the vehicle height direction, that is, the up-down direction.

[0038] Figure 1 This is a schematic diagram of a steering angle module 1000 provided according to one embodiment of this application. Figure 2 An exploded view of a steering angle module 1000 provided according to one embodiment of this application. Figure 3 This is an exploded view of a steering angle module 1000 provided according to another embodiment of this application.

[0039] Please see Figures 1 to 3 In some alternative embodiments, the steering angle module 1000 includes a bogie 10, a steering motor 20, wheel-side systems 30, 30', and a multi-link structure 40.

[0040] The bogie 10 is arranged along the Z direction; the steering motor 20 is located at the top of the bogie 10 and can be connected to the vehicle body; the wheel-side systems 30 and 30' are located on the Y-side of the bogie 10; the multi-link structure 40 is connected to the bogie 10 and the wheel-side systems 30 and 30'.

[0041] Among them, the steering motor 20 can drive the bogie 10 to rotate together with the wheel-side system 30, 30' and the multi-link structure 40 around the axis of the steering motor 20.

[0042] In this embodiment, the other components of the steering angle module 1000, except for the bogie 10, are arranged based on the bogie 10, and the bogie 10 provides stable support for the other components of the steering angle module 1000. Here, the bogie 10 being arranged inclined in the Z direction means that the bogie 10 is arranged approximately along the Z direction, and it has a certain tilt angle relative to the ZX plane and the YZ plane.

[0043] Additionally, the top of the bogie 10 has an interface for mounting the steering motor 20, which can be connected to the vehicle body. In other words, the steering motor 20 is connected between the bogie 10 and the vehicle body. In specific applications, the steering motor 20 is located at the wheel arch in the engine compartment of the vehicle body.

[0044] The bogie 10 and the steering motor 20 constitute the steering function unit in the steering angle module 1000. The wheel-side systems 30 and 30' serve as the travel function unit in the steering angle module 1000. The multi-link structure 40 connects the steering function unit and the travel function unit together.

[0045] Thus, during the process of the steering motor 20 driving the bogie 10 to rotate, the bogie 10 can drive the multi-link structure 40, which in turn drives the wheel-side systems 30 and 30' to rotate together, thereby achieving steering. In this embodiment, the multi-link structure 40 ensures reliability during the steering process, giving the steering angle module better handling stability.

[0046] Furthermore, it simplifies the steering angle module 1000, reducing its weight and cost. It should be noted that the steering angle module 1000 in the illustrated embodiment is at the 0° position. The X, Y, and Z directions are determined based on the 0° position. It should be understood that the orientation of the steering angle module 1000 will adaptively adjust after it turns.

[0047] Moreover, the steering angle module 1000 provided in this embodiment, with reliable connection of the multi-link structure 40, can achieve outward steering of 90° and inward steering of 90°, thus having a large steering angle range.

[0048] In a further optional embodiment, the multi-link structure 40 includes an upper link 41, a lower link 42, and a toe-in telescopic link 43. The upper link 41 is disposed on both sides of the bogie 10 in the X direction, and the lower link 42 is disposed on both sides of the bogie 10 in the X direction.

[0049] The upper link 41 is located above the lower link 42. The toe-in telescopic rod 43 is located on the X-direction side of the bogie 10 and between the upper link 41 and the lower link 42 in the Z-direction. The toe-in telescopic rod 43 can extend and retract along the length direction of the toe-in telescopic rod 43.

[0050] In this embodiment, the multi-link structure 40 has two upper links 41 located on both sides of the bogie 10 in the X direction, and two lower links 42 located on both sides of the bogie 10 in the X direction. The upper links 41 on both sides are respectively located above the lower links 42 on both sides.

[0051] In addition, the number of toe-in telescopic rods 43 in the multi-link structure 40 is one, so the multi-link structure 40 is a five-link structure. In other words, the five-link structure enables the steering angle module 1000 to have good operational stability.

[0052] In a further optional embodiment, the steering angle module 1000 further includes a slide column assembly 70, the two axial ends of which are connected to the bogie 10 and the wheel-side systems 30 and 30', respectively. The slide column assembly 70 is located between the upper connecting rod 41 and the lower connecting rod 42 on both sides in the X direction.

[0053] In this embodiment, the sliding column assembly 70 is connected to the bogie 10 and the wheel-side systems 30 and 30', and is located within the space enclosed by the multi-link structure 40, the bogie 10, and the wheel-side systems 30 and 30', providing vibration damping support.

[0054] In practical applications, the slide column assembly 70 integrates a hydraulic shock absorber and an air spring, giving the vehicle good handling stability and comfort.

[0055] In some alternative embodiments, the wheel-side systems 30, 30' include hub motor mounting brackets 31, 31' and wheel running structures 32, 32'.

[0056] The hub motor mounting brackets 31 and 31' are connected to the wheel running structures 32 and 32' and are located on the axial inner side of the wheel running structures 32 and 32'. The hub motor mounting brackets 31 and 31' have multiple interfaces for use with the multi-link structure 40 and the slide column assembly 70.

[0057] In this embodiment, the hub motor mounting brackets 31 and 31' mainly serve as support and support. Part of their interfaces are used to connect with the multi-link structure 40 and the slide column assembly 70, and are connected to the bogie 10 through the multi-link structure 40 and the slide column assembly 70. The remaining interfaces are also used to install the wheel running structure 32 and 32'.

[0058] Please refer to the appendix. Figures 1 to 3 In the multi-link structure 40, the upper link 41 and lower link 42 on one side of the X direction, together with the bogie 10 and the hub motor mounting brackets 31 and 31', form a planar four-bar linkage mechanism. Thus, a planar four-bar linkage mechanism is formed on each side of the steering angle module 1000 in the X direction, thereby ensuring the stability of the steering angle module 1000 during the steering process.

[0059] In practical applications, both the upper link 41 and the lower link 42 are installed using eccentric adjusting bolts and eccentric adjusting shims, thus achieving the function of adjusting the camber angle. The toe-adjusting rod 43 can adapt to changes in the toe angle by changing its own length. That is, the toe-adjusting rod 43 can adjust the wheel toe angle by adjusting its length.

[0060] In some alternative embodiments, the steering angle module 1000 further includes a lower control arm 50, which is connected to the bottom end of the bogie 10 and located below the lower link 42. The control arm 50 extends inward from the bogie 10 in the Y direction and forms an interface for splicing with the vehicle body.

[0061] In this embodiment, the lower control arm 50 is fixedly mounted on the bottom end of the bogie 10 on one side in the Y direction, while the other side in the Y direction is suspended and located inside. As described above, the top and bottom ends of the bogie 10 are connected to the vehicle body via the steering motor 20 and the lower control arm 50, respectively. The top end of the bogie 10 is the main mounting point, and the lower control arm 50 at the bottom end provides auxiliary support, allowing the bogie 10 to withstand vertical forces, thus strengthening the support for the bogie 10 and improving the load-bearing capacity of the steering angle module 1000.

[0062] In the illustrated embodiment, the lower control arm 50 is Y-shaped and has three arms, each with an interface. One of the interfaces on the arms is connected to the bottom end of the bogie 10 via a ball joint 80. In practical applications, the interface of the lower control arm 50 is provided with a bushing structure to achieve a flexible connection with the vehicle body.

[0063] In a further optional embodiment, the steering angle module 1000 also includes a steering damper 60, which is located in the Z-direction between the lower link 42 and the lower control arm 50.

[0064] One axial end of the steering damper 60 is connected to the bottom end of the bogie 10, and the other end extends inward in the Y direction and can be connected to the vehicle body.

[0065] In this embodiment, the steering damper 60 is located in the Z-direction between the lower link 42 and the lower control arm 50, and is connected to the vehicle body and the bogie 10. When the bogie 10 rotates, it causes the steering damper 60 to compress or extend. The damping of the steering damper 60 can reduce the wobbling of the steering angle module caused by the gear meshing clearance of the electric steering mechanism when the vehicle is traveling at high speed. It can be seen that the steering damper 60 can improve the stability of the steering angle module 1000 during the steering process, thereby reducing noise and vibration.

[0066] As can be seen from the above, the steering angle module 1000 provided in this application is connected to the vehicle body through the steering motor 20, the lower control arm 50 and the steering damper 60 respectively.

[0067] It should be noted that the "inner" and "outer" relationship in this application can be determined based on the center of the vehicle, with the closer to the center of the vehicle being the inner and the farther away from the center of the vehicle being the outer.

[0068] This application provides a wheel-side system 30 with driving function and a wheel-side system 30' without driving function. Correspondingly, the steering angle modules 1000 for the two wheel-side systems are a driving steering angle module and a non-driving steering angle module, respectively. Figure 2 The steering angle module 1000 shown is a drive-type steering angle module. Figure 3 The steering angle module 1000 shown is a non-drive type steering angle module. The steering function unit and slide block assembly 70 are identical in both types of steering angle modules 1000. Thus, a non-drive type steering angle module is added to accommodate non-drive wheels.

[0069] The hub motor mounting bracket and wheel running structure of these two types of wheel-side systems are slightly different. For the wheel-side system 30 with drive function, its corresponding wheel running structure 32 includes a wheel 321, a braking system and a hub motor 324. The braking system includes a braking device 322 and a hub bearing 323.

[0070] The braking device 322 includes a brake disc 3221, a brake caliper 3222, and a brake caliper mounting bracket 3223. The wheel 321, brake disc 3221, wheel hub bearing 323, and wheel hub motor 324 are connected in sequence along the axial direction of the wheel 321. The wheel hub motor 324 is connected to the wheel hub motor mounting bracket 31.

[0071] The brake caliper mounting bracket 3223 is connected to the hub motor 324 and is located on the axial side of the hub motor 324 near the wheel 321. The brake caliper 3222 is connected to the brake caliper mounting bracket 3223 and can lock or release the brake disc 3221.

[0072] In this embodiment, the wheel travel structure 32 includes a hub motor 324, which is mounted on a hub motor mounting bracket 31 and provides axial support through a hub bearing 323. It cooperates with the drive wheel 321 to drive the wheel 321 to rotate, thus having an active drive function. Correspondingly, the wheel-side system 30 of the wheel travel structure 32 has a drive function.

[0073] In addition, during the process of the hub motor 324 driving the wheel 321 to rotate, the brake disc 3221 rotates with the hub motor 324. The brake caliper 3222 is fixedly installed on the inner side of the hub motor 324 through the brake caliper mounting bracket 3223 and cooperates with the brake disc 3221. It can lock or release the brake disc 3221 according to the command, thus realizing the braking function.

[0074] Figure 4 for Figure 3 Exploded view of the central braking device 322' and the hub motor mounting bracket 31'. Please refer to... Figure 4 For the wheel-side system 30' which does not have a driving function, its corresponding wheel running structure 32' includes a wheel 321' and a braking system. The braking system includes a braking device 322', a wheel hub bearing 323' and a steering knuckle 324'.

[0075] The braking device 322' includes a brake disc 3221' and a brake caliper 3222'. The wheel 321', brake disc 3221', wheel hub bearing 323' and steering knuckle 324' are connected in sequence along the axial direction of the wheel 321'. The brake caliper 3222' and steering knuckle 324' are both connected to the wheel hub motor mounting bracket 31'. The brake caliper 3222' can lock or release the brake disc 3221'.

[0076] Since the wheel-side system 30' does not have a hub motor 324, it does not have a drive function. Accordingly, there is no need for a brake caliper mounting bracket 3223 to connect to the hub motor 324, and the brake caliper 3222' is fixedly mounted on the hub motor mounting bracket 31'.

[0077] In this embodiment, the steering knuckle 324' is used to hinge the wheel 321' to the hub motor mounting bracket 31', and works with the hub bearing 323' to ensure that the wheel 321' can rotate and bear the load. Of course, it can also achieve the braking function through the braking device 322', which will not be repeated here.

[0078] exist Figure 4 In the embodiment shown, the wheel travel structure 32' also has a mudguard 325' to block mud, gravel, etc. during travel and protect the wheel travel structure 32'.

[0079] Comparing the wheel-side system 30 with driving function and the wheel-side system 30' without driving function, both have braking function and the corresponding wheels can move. In addition, the braking systems of the two are slightly different. However, the wheel 321 in the wheel-side system 30 can be used as the active driving wheel, and the wheel 321' in the wheel-side system 30' can be used as the driven driving wheel.

[0080] The hub motor mounting bracket 31 in the wheel-side system 30 needs to install the hub motor 324, while the hub motor mounting bracket 31' in the wheel-side system 30' needs to install the steering knuckle 324', so the two structures are slightly different.

[0081] In a further optional embodiment, the bogie 10 has a front-to-back symmetrical structure about the Y-axis centerline via the steering motor 20.

[0082] In this embodiment, the bogie 10 is manufactured as a symmetrical structure, which improves the versatility of parts and reduces the cost of part molds. It should be noted that the axis of the steering motor 20 is the same as the rotation axis of the steering motor 20.

[0083] Another aspect of this application provides a vehicle that includes the aforementioned steering angle module 1000, and thus obviously possesses all the advantages brought about by the aforementioned steering angle module 1000.

[0084] For example, the multi-link structure can be a five-link structure, which, together with the sliding strut assembly 70, forms a lateral five-link independent suspension, giving the steering angle module 1000 good handling stability. At the same time, the introduction of the lower control arm 50 and the steering damper 60 improves the overall NVH performance of the vehicle, that is, reduces vibration and noise, and improves comfort.

[0085] In addition, with the vehicle using 4 steering angle modules of 1000, and the hydraulic damper and air spring integrated in the 70-inch strut assembly, and the hydraulic lines and accumulator forming a left and right hydraulic interconnection suspension mechanism, hydraulic interconnection and suspension height adjustment can be realized. The suspension damping and air spring stiffness can be actively adjusted to achieve better handling and stability.

[0086] Of these four steering angle modules 1000, two are drive-type and the other two are non-drive-type. They can be combined to form a front-wheel drive or rear-wheel drive vehicle, or all four can be drive-type to form a four-wheel drive vehicle, which can be flexibly configured according to needs.

[0087] Of course, the vehicle possesses all the advantages brought by the aforementioned steering angle module 1000, which will not be repeated here.

[0088] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A steering angle module, characterized in that, include: The bogie (10) is arranged at an angle in the Z direction; Steering motor (20) is located at the top of the bogie (10) and can be connected to the vehicle body; Wheel-side systems (30, 30') are disposed on the Y-direction side of the bogie (10); and A multi-link structure (40) is connected to the bogie (10) and the wheel-side system (30, 30'); The steering motor (20) can drive the bogie (10) to rotate together with the wheel-side system (30, 30') and the multi-link structure (40) around the axis of the steering motor (20).

2. The steering angle module according to claim 1, characterized in that, The multi-link structure (40) includes an upper link (41), a lower link (42), and a front telescopic link (43); The upper connecting rod (41) is disposed on both sides of the bogie (10) in the X direction, and the lower connecting rod (42) is disposed on both sides of the lower part of the bogie (10) in the X direction; The upper link (41) is located above the lower link (42), and the toe-in telescopic rod (43) is located on the X-direction side of the bogie (10) and between the upper link (41) and the lower link (42) in the Z-direction. The toe-in telescopic rod (43) can extend and retract along the length direction of the toe-in telescopic rod (43).

3. The steering angle module according to claim 2, characterized in that, It also includes a lower control arm (50), which is connected to the bottom end of the bogie (10) and located below the lower link (42). The control arm (50) extends inward from the bogie (10) in the Y direction and forms an interface for splicing with the vehicle body.

4. The steering angle module according to claim 3, characterized in that, It also includes a steering damper (60) located in the Z direction between the lower link (42) and the lower control arm (50); One axial end of the steering damper (60) is connected to the bottom end of the bogie (10), and the other end extends inward in the Y direction and can be connected to the vehicle body.

5. The steering angle module according to claim 2, characterized in that, It also includes a sliding column assembly (70), the two ends of which are connected to the bogie (10) and the wheel-side system (30, 30') respectively. The sliding column assembly (70) is located between the upper connecting rod (41) and the lower connecting rod (42) on both sides in the X direction.

6. The steering angle module according to claim 1, characterized in that, The wheel-side system (30, 30') includes a hub motor mounting bracket (31, 31') and a wheel running structure (32, 32'); The hub motor mounting bracket (31, 31') is connected to the wheel running structure (32, 32') and located on the axial inner side of the wheel running structure (32, 32'). The hub motor mounting bracket (31, 31') has multiple interfaces for cooperating with the multi-link structure (40) and the slide column assembly (70).

7. The steering angle module according to claim 6, characterized in that, The wheel running structure (32) includes a wheel (321), a braking device, a braking system, and a hub motor (324). The braking system includes a braking device (322) and a hub bearing (323). The braking device (322) includes a brake disc (3221), a brake caliper (3222), and a brake caliper mounting bracket (3223). The wheel (321), the brake disc (3221), the wheel hub bearing (323), and the wheel hub motor (324) are connected in sequence along the axial direction of the wheel (321). The wheel hub motor (324) is connected to the wheel hub motor mounting bracket (31). The brake caliper mounting bracket (3223) is connected to the hub motor (324) and located on the axial side of the hub motor (324) near the wheel (321). The brake caliper (3222) is connected to the brake caliper mounting bracket (3223) and can lock or release the brake disc (3221).

8. The steering angle module according to claim 6, characterized in that, The wheel running structure (32') includes a wheel (321') and a braking system, the braking system including a braking device (322'), a wheel hub bearing (323') and a steering knuckle (324'); The braking device (322') includes a brake disc (3221') and a brake caliper (3222'). The wheel (321'), the brake disc (3221'), the wheel hub bearing (323'), and the steering knuckle (324') are connected in sequence along the axial direction of the wheel (321'). The brake caliper (3222') and the steering knuckle (324') are both connected to the wheel hub motor mounting bracket (31'). The brake caliper (3222') can lock or release the brake disc (3221').

9. The steering angle module according to any one of claims 1 to 8, characterized in that, The bogie (10) has a front-to-back symmetrical structure about the Y-axis passing through the centerline of the steering motor (20).

10. A vehicle, characterized in that, The vehicle includes a steering angle module according to any one of claims 1 to 9.

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