Vehicle rear axle electronic control hydraulic steering system and vehicle

Abstract

The invention provides a vehicle rear axle electric control hydraulic steering system and a vehicle, the vehicle rear axle electric control hydraulic steering system comprises an oil liquid power module, a steering control module and an execution element, the oil liquid power module is connected with the execution element through the steering control module, and the oil liquid power module comprises an oil tank and a steering pump; the steering control module comprises a power valve bank, a steering valve bank and a centering valve bank, the oil tank is connected with the power valve bank through the steering pump, the power valve bank is connected with the steering valve bank and the centering valve bank, and the steering valve bank and the centering valve bank are connected with the execution element. The vehicle rear axle electric control hydraulic steering system can enable a vehicle to achieve four functions of common steering, crab steering, rear axle steering and all-wheel steering, is reliable in technology and high in safety, effectively solves the problems that the vehicle steering diameter is too large, the maneuvering performance is poor, and the use requirements of specific working conditions cannot be met, can guarantee accurate control over rear axle steering, and improves the steering efficiency. The minimum turning diameter of the vehicle is reduced, and the trafficability of the vehicle in narrow road conditions is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle hydraulic systems, and in particular to a vehicle rear axle electronically controlled hydraulic steering system and a vehicle. Background Art

[0002] Vehicles in some specific working environments, such as fire trucks, airport snowplows, etc., require a smaller steering diameter and good maneuverability due to their nature of work. However, existing vehicles usually use a front axle steering structure, which has a large steering diameter, poor maneuverability, and low efficiency, and cannot meet the needs of specific working conditions.

[0003] At present, the rear-wheel steering system structure of commercial vehicles mainly includes rear-wheel mechanical steering, rear-wheel follow-up steering, electronically controlled hydraulic steering and motor wheel speed control steering. Among them, the rear-wheel mechanical steering and follow-up steering systems have problems such as inaccurate steering, tire eating and unstable high-speed driving. The motor wheel speed control steering system has a complex structure, high technical difficulty and cost, and low applicability. The electronically controlled hydraulic steering system technology is reliable and safe, accurately controls the steering angle, and effectively solves the problems of insufficient passability, tire eating and unstable high-speed driving. It is the main development direction.

[0004] Based on this, a vehicle rear axle electronically controlled hydraulic steering system is designed to solve the problems of large steering diameter, poor maneuverability, low efficiency and inability to meet the needs of specific working conditions in the existing front axle steering form. Summary of the invention

[0005] In view of this, in order to overcome the defects of the prior art, the present invention provides a vehicle rear axle electronically controlled hydraulic steering system and a vehicle, which effectively solves the problems of the existing front axle steering form, such as large steering diameter, poor maneuverability, low efficiency and inability to meet the requirements of specific working conditions.

[0006] According to a first aspect of the present invention, a vehicle rear axle electronically controlled hydraulic steering system is provided, wherein the vehicle rear axle electronically controlled hydraulic steering system comprises an oil power module, a steering control module and an actuator, the oil power module is connected to the actuator via the steering control module, the oil power module comprises an oil tank and a steering pump, the steering control module comprises a power valve group, a steering valve group and a centering valve group, the oil tank is connected to the power valve group via the steering pump, the power valve group is connected to the steering valve group and the centering valve group, and the steering valve group and the centering valve group are connected to the actuator.

[0007] Preferably, the oil power module further includes a pressure filter and a first one-way valve, the steering pump is connected to the first one-way valve through the pressure filter, and the pressure filter is connected to the power valve group through the first one-way valve.

[0008] Preferably, the oil power module further includes an oil return filter, and the oil return port of the power valve group is connected to the oil tank through the oil return filter.

[0009] Preferably, the oil power module further includes a radiator, and the oil return port of the power valve group is connected to the oil return filter through the radiator.

[0010] Preferably, the power valve group includes a P2 port connected to the oil-gas suspension oil inlet pipeline and a T4 port connected to the oil-gas suspension oil return pipeline.

[0011] Preferably, the steering valve group includes a compensation valve, a performance balancing valve and a hydraulic lock. The compensation valve can overcome speed changes, the performance balancing valve can prevent the actuator from passively shifting under external force, and the hydraulic lock can enable the steering chamber of the steering valve group to float or steer.

[0012] Preferably, the centering valve group includes a second one-way valve and a solenoid valve.

[0013] Preferably, the steering valve group is connected in parallel with the centering valve group.

[0014] Preferably, the steering control module further comprises an accumulator, and the centering valve group is connected to the accumulator.

[0015] According to a second aspect of the present invention, a vehicle is provided, the vehicle comprising the vehicle rear axle electronically controlled hydraulic steering system as described above.

[0016] According to the vehicle rear axle electronically controlled hydraulic steering system of the present invention, through the cooperation of the oil power module, the steering control module and the actuator, the vehicle can realize four functions of ordinary steering, crab steering, rear axle steering and all-wheel steering. The technology is reliable and safe, and it effectively solves the problem that the vehicle steering diameter is too large, the maneuverability is poor, and it cannot meet the use requirements of specific working conditions. When the front wheels of the vehicle are turned, the steering wheel angle sensor transmits a signal to the controller. The controller sends a signal to the power valve group, the steering valve group and the centering valve group according to the vehicle speed and steering angle input, controls the flow of the actuator, and realizes synchronous steering of the rear axle. At the same time, the angle sensor feeds back the rear axle steering angle to the controller to form a closed-loop control, ensure the precise control of the rear axle steering, reduce the minimum turning diameter of the vehicle, and improve the vehicle's passability in narrow road conditions.

[0017] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of a vehicle rear axle electronically controlled hydraulic steering system according to an embodiment of the present invention is shown;

[0020] Figure 2 A schematic structural diagram of a power valve group according to an embodiment of the present invention is shown;

[0021] Figure 3 A schematic structural diagram of a steering valve group according to an embodiment of the present invention is shown;

[0022] Figure 4 A schematic structural diagram of a centering valve assembly according to an embodiment of the present invention is shown;

[0023] Figure 5 A schematic diagram showing the structure of an actuator according to an embodiment of the present invention;

[0024] Figure 6 A schematic structural diagram of a steering pump according to an embodiment of the present invention is shown.

[0025] Reference numerals: 1- oil tank; 101-5ST; 2- steering pump; 3- pressure filter; 301-1DT; 4- first check valve; 5- power valve group; 501- P0 port; 502- T0 port; 503- P1' port; 504- T2' port; 505- T3 port; 506- P2 port; 507- T4 port; 508- 2DT; 509- 3DT; 510- 4ST; 6- accumulator; 7- centering valve group; 701- P1" port; 702- T2" port; 703- ACC port; 704-C1' port; 705-C2' port; 706-5DT; 707-3ST; 8-actuator; 801-A" port; 802-B" port; 803-L" port; 804-C1" port; 805-C2" port; 9-steering valve group; 901-P port; 902-T port; 903-A' port; 904-B' port; 905-L' port; 906-1ST; 907-2ST; 10-radiator; 1001-6DT; 11-return oil filter; 1101-4DT. DETAILED DESCRIPTION

[0026] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0027] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0028] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] According to a first aspect of the present invention, there is provided a vehicle rear axle electronically controlled hydraulic steering system, such as Figures 1 to 6As shown, the vehicle rear axle electronically controlled hydraulic steering system can be used for vehicles in some specific working environments, such as fire trucks and snowplows, etc. By using the vehicle rear axle electronically controlled hydraulic steering system, these vehicles can have a smaller steering diameter and excellent maneuverability. The vehicle rear axle electronically controlled hydraulic steering system includes an oil power module, a steering control module and an actuator 8.

[0031] In the following description, reference will be made to Figures 1 to 6 The detailed structures of the oil power module, steering control module and actuator 8 of the rear axle electronically controlled hydraulic steering system of the vehicle are described in detail.

[0032] like Figures 1 to 6 As shown, in the embodiment, the oil power module is connected to the actuator 8 through the steering control module. The oil power module can provide hydraulic oil and drive the steering control module to move. The steering control module can drive the rear axle of the vehicle to rotate at a precise angle. The actuator 8 can be, for example, a steering centering cylinder (such as Figure 5 As shown). The control logic of the rear axle electronically controlled hydraulic steering system of the vehicle is as follows: when the front wheels of the vehicle are turned, the steering wheel angle sensor (not shown) transmits a signal to the controller (not shown). The controller sends a signal to the oil power module and the steering control module according to the vehicle speed and steering angle input, controls the flow of the steering centering cylinder, and realizes synchronous steering of the rear axle. At the same time, the angle sensor feeds back the rear axle steering angle to the controller to form a closed-loop control to ensure precise control of the rear axle steering. Through this precise control, the vehicle can realize four functions: ordinary steering, crab steering, rear axle steering and all-wheel steering, greatly reducing the minimum turning diameter of the vehicle and improving the vehicle's passability in narrow road conditions. In addition, the steering wheel angle sensor, the controller, the rear axle steering angle sensor and the connection method of these controllers can all be prior art, and those skilled in the art can know it.

[0033] Specifically, the oil power module may include an oil tank 1 and a steering pump 2, and the steering control module may include a power valve group 5, a steering valve group 9 and a centering valve group 7. The oil tank 1 is connected to the power valve group 5 through the steering pump 2. The steering pump 2 delivers the hydraulic oil in the oil tank 1 to the power valve group 5. The steering pump 2 has low energy consumption and takes into account the functions of light low-speed steering and heavy and stable high-speed steering (such as Figure 6 The power valve group 5 is connected with the steering valve group 9 and the centering valve group 7. The power valve group 5 executes the input of hydraulic oil to meet the specific steering of the rear axle of the vehicle. The steering valve group 9 and the centering valve group 7 are connected with the actuator 8. After the steering valve group 9 and the centering valve group 7 receive the hydraulic oil, they drive the actuator 8 to perform corresponding rotation actions.

[0034] A specific control logic is: when the front wheels of the vehicle are turned, the steering wheel angle sensor transmits a signal to the controller, and the controller sends a signal to the power valve group 5, the steering valve group 9 and the centering valve group 7 according to the vehicle speed and steering angle input, thereby controlling the flow of the actuator 8.

[0035] The rear axle electronically controlled hydraulic steering system of the vehicle can realize four functions of ordinary steering, crab steering, rear axle steering and all-wheel steering through the cooperation of the oil power module, the steering control module and the actuator 8. It is technically reliable and highly safe, and effectively solves the problem that the vehicle steering diameter is too large, the maneuverability is poor, and it cannot meet the use requirements of specific working conditions. When the front wheels of the vehicle are turned, the steering wheel angle sensor transmits a signal to the controller. The controller sends a signal to the power valve group 5, the steering valve group 9 and the centering valve group 7 according to the vehicle speed and steering angle input, controls the flow of the actuator 8, and realizes synchronous steering of the rear axle. At the same time, the angle sensor feeds back the rear axle steering angle to the controller to form a closed-loop control, ensure accurate control of the rear axle steering, reduce the minimum turning diameter of the vehicle, and improve the vehicle's passability in narrow road conditions.

[0036] Preferably, if Figure 1 As shown, in the embodiment, the oil power module may further include a pressure filter 3 and a first one-way valve 4, the steering pump 2 is connected to the first one-way valve 4 through the pressure filter 3, and the pressure filter 3 is connected to the power valve group 5 through the first one-way valve 4. The pressure filter 3 can ensure the cleanliness of the hydraulic oil and improve the reliability of the steering solenoid valve group. The first one-way valve 4 can prevent the hydraulic oil from flowing in reverse, protect the steering pump 2 from reverse impact, and improve the service life of the pump.

[0037] Preferably, if Figure 1 As shown, in an embodiment, the oil power module may further include an oil return filter 11 , and the oil return port of the power valve group 5 is connected to the oil tank 1 through the oil return filter 11 .

[0038] Preferably, if Figure 1 As shown, in an embodiment, the oil power module may further include a radiator 10, and the oil return port of the power valve group 5 is connected to the oil return filter 11 through the radiator 10. The radiator 10 may be, for example, an air-cooled radiator, which can maintain the heat balance of the electronically controlled hydraulic system and ensure the normal operation of the steering system.

[0039] Preferably, if Figure 1 and Figure 2 As shown, in the embodiment, the power valve group 5 may include a P2 port 506 connected to the oil-gas suspension oil inlet pipeline and a T4 port 507 connected to the oil-gas suspension oil return pipeline. In this way, the power valve group 5 can provide power for the oil-gas suspension at the same time.

[0040] Preferably, in the embodiment, the steering valve group 9 may include a compensation valve, a performance balancing valve and a hydraulic lock. The compensation valve can overcome speed changes, which is conducive to overcoming speed changes caused by load instability, making the cylinder run more smoothly and stably. The performance balancing valve can prevent the actuator 8 from passively deflecting under the action of external force, thereby improving safety. The hydraulic lock can enable the steering chamber of the steering valve group 9 to float or steer, reducing the logic control of the electronic control, making the system simpler and more reliable.

[0041] Preferably, in the embodiment, the centering valve group 7 may include a second one-way valve and a solenoid valve. The second one-way valve may be, for example, a one-way valve with a cone valve structure, and the solenoid valve may be a non-leakage solenoid valve, both of which may be connected to the accumulator 6 described below, so that the pressure of the accumulator 6 can be maintained longer, which greatly reduces the number of starts and stops of the steering pump 2 and prolongs the service life of the steering pump 2.

[0042] Preferably, if Figure 1 As shown, in the embodiment, the steering valve group 9 is connected in parallel with the centering valve group 7. In the entire hydraulic system, the centering valve group 7 and the steering valve group 9 are designed in a split manner, which simplifies the overall design difficulty of the valve group, facilitates troubleshooting, and is beneficial to the layout of pipelines and equipment installation.

[0043] Preferably, if Figure 1 As shown, in the embodiment, the steering control module also includes an accumulator 6, and the centering valve group 7 is connected to the accumulator 6. The accumulator 6 can absorb the flow pulsation output by the steering pump 2, reduce the pressure fluctuation and noise in the system, and make the system run more smoothly. When the steering pump 2 fails, the accumulator 6, as an emergency power source, provides power to the actuator 8 under the instruction of the control unit to ensure that the actuator 8 is in a centered state. In other words, when an abnormality occurs in the rear axle electronically controlled hydraulic steering system, the controller can transmit a signal to the centering valve group 7 to control the actuator 8 to achieve centering. The accumulator 6 can provide a continuous pressure-maintaining effect in this process, so that the rear axle steering is locked to ensure the safety of vehicle driving.

[0044] See also Figures 1 to 5 The specific connection relationship of each component in the rear axle electronically controlled hydraulic steering system of the vehicle is as follows: the P0 port 501 of the power valve group 5 is connected to the oil pipe of the first check valve 4; the T0 port 502 of the power valve group 5 is connected to the return oil pipe of the oil tank 1; the P1' port 503 of the power valve group 5 is connected to the P port 901 of the steering valve group 9 and the P1" port 701 of the centering valve group 7 through a three-way valve; the T2' port 504 of the power valve group 5 is connected to the T2" ​​port 702 of the centering valve group 7; the T3 port 505 of the power valve group 5 is connected to the T port 902 of the steering valve group 9; the P2 port 506 of the power valve group 5 and the T4 port 507 of the power valve group 5 are respectively connected to the oil-gas suspension oil inlet pipeline and the oil-gas suspension oil inlet pipeline.

[0045] The P port 901 of the steering valve group 9 is connected to the P1' port 503 of the power valve group 5, the T port 902 of the steering valve group 9 is connected to the T3 port 505 of the power valve group 5, the A' port 903 of the steering valve group 9 is connected to the A" port 801 of the actuator 8, the B' port 904 of the steering valve group 9 is connected to the B" port 802 of the actuator 8, and the L' port 905 of the steering valve group 9 is connected to the L" port 803 of the actuator 8.

[0046] The ACC port 703 of the centering valve group 7 can be connected to the accumulator 6 through a ball valve, the P1" port 701 of the centering valve group 7 is connected to the P1' port 503 of the power valve group 5, the T2" ​​port 702 of the centering valve group 7 is connected to the T2' port 504 of the power valve group 5, the C1' port 704 of the centering valve group 7 is connected to the C1" port 804 of the actuator 8, and the C2' port 705 of the centering valve group 7 is connected to the C2" port 805 of the actuator 8.

[0047] The T0 port 502 of the power valve group 5 is connected to the radiator 10 , and the radiator 10 is connected to the oil return filter 11 .

[0048] See also Figures 1 to 5 The specific connection relationship of each component in the rear axle electronically controlled hydraulic steering system of the vehicle is as follows:

[0049] The control logic method of the rear axle electronically controlled hydraulic steering system of the vehicle is as follows: when the 3DT509 of the power valve group 5, the 5DT706 of the centering valve group 7 and the 1ST906 of the steering valve group 9 are simultaneously in effect, the rear axle performs a left steering action. When the 3DT509 of the power valve group 5, the 5DT706 of the centering valve group 7 and the 2ST907 of the steering valve group 9 are simultaneously in effect, the rear axle performs a right steering action. When only the 3DT509 of the power valve group 5 is in effect, for example, the actuator 8 of the steering centering cylinder is in a centering state. When the 3DT509 of the power valve group 5 and the 3ST707 of the centering valve group 7 are simultaneously in effect, the accumulator 6 performs a charging action. When only the 4ST510 of the power valve group 5 is in effect, a pump source failure alarm is prompted. When the 6DT1001 of the radiator 10 and the 5ST101 of the hydraulic oil tank 1 are simultaneously in effect, the radiator 10 starts to work. When only the 5ST101 of the hydraulic oil tank 1 is in effect, the radiator 10 stops working. When the 1DT301 of the pressure filter 3 and the 3DT509 of the power valve group 5 work at the same time, the pressure filter 3 prompts an alarm. When the 3DT509 of the power valve group 5 and the 4DT1101 of the return oil filter 11 work at the same time, the return oil filter 11 prompts an alarm. When only the 2DT508 of the power valve group 5 works, the oil-gas suspension starts to work. In addition, the above-mentioned DT and ST can be understood as the common electric regulating valves in the valve group, and their movement principles are commonly used in the existing technology, which will not be repeated here.

[0050] The rear axle electronically controlled hydraulic steering system of the vehicle can realize four functions of ordinary steering, crab steering, rear axle steering and all-wheel steering through the cooperation of oil power module, steering control module and actuator. It is technically reliable and highly safe, and effectively solves the problem that the steering diameter of the vehicle is too large, the maneuverability is poor, and it cannot meet the use requirements of specific working conditions. When the front wheels of the vehicle are turned, the steering wheel angle sensor transmits a signal to the controller. The controller sends a signal to the power valve group, the steering valve group and the centering valve group according to the vehicle speed and steering angle input, controls the flow of the actuator, and realizes synchronous steering of the rear axle. At the same time, the angle sensor feeds back the steering angle of the rear axle to the controller to form a closed-loop control, ensure the precise control of the rear axle steering, reduce the minimum turning diameter of the vehicle, and improve the vehicle's passability in narrow road conditions.

[0051] In addition, according to a second aspect of the present invention, a vehicle is provided, the vehicle comprising the vehicle rear axle electronically controlled hydraulic steering system as described above. During the driving process of the vehicle, the vehicle rear axle electronically controlled hydraulic steering system can realize four functions: ordinary steering, crab steering, rear axle steering and all-wheel steering, greatly reducing the minimum turning diameter of the vehicle and improving the vehicle's passability in narrow road conditions.

[0052] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle rear axle electronically controlled hydraulic steering system, characterized in that: The vehicle rear axle electronically controlled hydraulic steering system includes an oil power module, a steering control module and an actuator. The oil power module is connected to the actuator through the steering control module. The oil power module includes an oil tank and a steering pump. The steering control module includes a power valve group, a steering valve group and a centering valve group. The oil tank is connected to the power valve group through the steering pump. The power valve group is connected to the steering valve group and the centering valve group. The steering valve group and the centering valve group are connected to the actuator.

2. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The oil power module further includes a pressure filter and a first one-way valve. The steering pump is connected to the first one-way valve through the pressure filter, and the pressure filter is connected to the power valve group through the first one-way valve.

3. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The oil power module further includes an oil return filter, and the oil return port of the power valve group is connected to the oil tank through the oil return filter.

4. The vehicle rear axle electronically controlled hydraulic steering system according to claim 3, characterized in that: The oil power module further includes a radiator, and the oil return port of the power valve group is connected to the oil return filter through the radiator.

5. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The power valve group includes a P2 port connected to the oil-gas suspension oil inlet pipeline and a T4 port connected to the oil-gas suspension oil return pipeline.

6. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The steering valve group includes a compensation valve, a performance balancing valve and a hydraulic lock. The compensation valve can overcome speed changes, the performance balancing valve can prevent the actuator from passively shifting under external force, and the hydraulic lock can enable the steering chamber of the steering valve group to float or steer.

7. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The centering valve group includes a second one-way valve and a solenoid valve.

8. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The steering valve group is connected in parallel with the centering valve group.

9. The vehicle rear axle electronically controlled hydraulic steering system according to claim 1, characterized in that: The steering control module further includes an accumulator, and the centering valve group is connected to the accumulator.

10. A vehicle, characterized in that: The vehicle comprises the vehicle rear axle electronically controlled hydraulic steering system according to any one of claims 1 to 9.

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