• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A steering ratio modification system for a tilting telescopic hand-held vehicle (6), the vehicle comprising steering wheels (11), a steering wheel and a steering transmission device for transmitting the steering movement. steering between the steering wheel and the steering wheels (11) according to a steering ratio R = Beta / Alpha, with Beta the steering angle of the wheels, and Alpha the steering angle of the steering wheel. The system comprises a sensor configured to determine a parameter relating to the telescopic arm, for example an angle sensor (A6) formed by the telescopic arm with the ground support plane of the wheels of the vehicle, and / or a sensor of the length (L6) of the telescopic arm, and a steering ratio control module configured to modify the steering ratio R as a function of said parameter relative to the telescopic arm. The invention also relates to a rolling vehicle equipped with such a steering ratio modification system.
    公开号:FR3041922A1
    申请号:FR1559356
    申请日:2015-10-01
    公开日:2017-04-07
    发明作者:Antoine Riot；Mickael Christiny
    申请人:Manitou BF SA；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    The present invention generally relates to the modification of the steering ratio for a rolling vehicle and a corresponding vehicle.
    PRIOR ART
    For the handling of objects between two areas, it is known to use a handling vehicle that the driver moves by turning the wheels in one direction to reach a first area, for example to take a load. To reach a second unloading area, the driver must move back and forward the vehicle by turning the wheels in the other direction.
    However, to steer the wheels in one direction or the other, that is to say to bring the wheels in abutment in one direction or the other, the driver must apply to the steering wheel several turns, which is tedious and time consuming.
    In addition, when the vehicle comprises a tilting telescopic arm, for example equipped with a bucket at its distal end, the driver must be careful to maneuver the vehicle carefully so that the vehicle is not unbalanced by the telescopic arm and that it risk of falling over.
    In general, it is desirable to be able to steer such a handling vehicle accurately, comfortable and secure.
    The present invention aims to propose a new system and a rolling vehicle with telescopic arm to overcome all or part of the problems described above.
    SUMMARY OF THE INVENTION To this end, the subject of the invention is a system for modifying the steering ratio for a vehicle with tilting telescopic arm, the vehicle comprising steering wheels, a steering wheel and a steering transmission device enabling to transmit the steering movement between the steering wheel and the steering wheels in a steering ratio R = Beta / Alpha, with Beta the steering angle of the wheels, and Alpha the steering angle of the steering wheel, characterized in that the system comprises: a sensor configured to determine a parameter relative to the telescopic arm, for example a sensor of the angle formed by the telescopic arm with the ground support plane of the wheels of the vehicle, and / or a sensor of the length of the telescopic arm; telescopic arm; a steering ratio control module configured to modify the steering ratio R as a function of said parameter relating to the telescopic arm.
    During a load-handling operation with a tilt-arm vehicle whose end is intended to carry a load, there is a risk of tipping the vehicle in the case where it is not controlled in a secure manner . The modification of the steering ratio as a function of one or more parameters related to the arm, such as the angle and / or the length of said arm, makes it possible to maintain the comfort of maneuvering the vehicle while ensuring appropriate safety conditions.
    According to an advantageous characteristic of the invention, said system comprising a load sensor configured to determine the load at or near the end of the telescopic arm, the steering ratio control module is configured to modify the gear ratio. direction R according to said determined load.
    According to an advantageous characteristic of the invention, said system comprising a steering angle sensor of the steering wheel, the steering ratio control module R is also configured to modify the steering ratio as a function of a handling parameter of the steering wheel. steering wheel calculated from the steering angle of the steering wheel.
    The fact of being able to vary the steering ratio according to the manipulation of the steering wheel, preferably according to the angular speed of the steering wheel, makes it possible to adapt the sensitivity of the steering of the vehicle to the conditions of use of the vehicle.
    In particular, such a design limits the number of turns to be applied to the steering wheel to bring the wheels in abutment in one direction or the other when the driver wants to quickly turn the wheels.
    In addition, it can be provided that the ratio can reach or be set at a certain value up to a given speed of movement of the vehicle, and then limit the steering ratio R as the speed of movement increases to tend towards the ratio default direction. The default steering ratio means the steering ratio resulting from the construction of the vehicle without activation of the ratio control module. Such a design facilitates the maneuvering of the vehicle at a stop or at a low speed of movement, while maintaining safety and comfort of driving at higher speeds to limit the nervousness of the vehicle.
    According to an advantageous characteristic of the invention, said handling parameter of the steering wheel comprises the angular speed of the steering wheel.
    It can be expected that the ratio is increased when the steering wheel is rotated quickly. Conversely, when the driver wishes to approach a specific area and for that slowly rotates the steering wheel, it can be expected that the ratio is decreased, preferably being close to 1, so that the driver can maintain a displacement accuracy.
    According to an advantageous characteristic of the invention, said handling parameter of the steering wheel comprises the angular acceleration of the steering wheel.
    According to an advantageous characteristic of the invention, said handling parameter of the steering wheel comprises the angular position of the steering wheel and / or the angular travel traveled continuously.
    According to an advantageous characteristic of the invention, the steering ratio control module is configured such that the steering ratio has a first ratio value when the angular speed of the steering wheel is non-zero and less than an angular speed value. given threshold, and has a second ratio value greater than the first ratio value when the angular speed of the steering wheel is greater than said given threshold angular velocity value.
    According to an advantageous characteristic of the invention, several angular velocity ranges being defined, the direction ratio has different values from one angular velocity range to another and / or obeys different functions of an angular velocity range. to another. This system configuration is also applicable when the steering wheel manipulation parameter is a parameter other than the angular velocity. This parameter can be, for example, the angular acceleration or the angular position of the steering wheel. The invention also relates to a rolling vehicle comprising: - steered wheels; - a steering wheel; a steering transmission device for transmitting the steering movement between the steering wheel and the steering wheels according to a steering ratio R = Beta / Alpha with Beta the steering angle of the wheels, and Alpha the steering angle of the steering wheel ; characterized in that said vehicle comprises a steering ratio modification system as described above.
    According to an advantageous characteristic of the invention, the steering ratio control module is configured to modify the steering ratio as a function of the speed of movement of the vehicle and / or the depression of the accelerator pedal.
    According to an advantageous characteristic of the invention, the steering transmission device comprises a hydraulic circuit.
    According to an advantageous characteristic of the invention, the hydraulic circuit comprises: a pump, also called accessory pump, for putting the hydraulic circuit under pressure; a hydraulic cylinder system coupled to the steering wheels; - A steering pump for directing the steering fluid to one side or the other of the cylinder or cylinder of the hydraulic cylinder system according to the rotation of the steering wheel; - A flow addition system, preferably a proportional solenoid valve, controllable by the control module to add an additional flow of steering fluid in the hydraulic circuit according to the steering ratio defined by the control module.
    According to an advantageous characteristic of the invention, the vehicle comprises a first computer configured to process the data coming from the sensor or sensors and to drive the electric actuators of the vehicle, and a second computer connected to the first computer and which comprises the said control module of the report. of management.
    According to an advantageous characteristic of the invention, said vehicle comprises four steering wheels.
    BRIEF DESCRIPTION OF THE DRAWINGS Other features and advantages of the invention will become apparent from the description which follows, which is purely illustrative and not limiting and should be read with reference to the accompanying drawings, in which: - Figure 1 is a schematic view of a steering ratio modification system for a traveling vehicle according to an embodiment of the invention; FIG. 2 is a schematic side view of a handling vehicle, according to one embodiment of the invention, the vehicle comprising a telescopic arm equipped with a bucket which is shown in the detached state of the invention. end of the arm.
    DETAILED DESCRIPTION
    The concept of the invention is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. In the drawings, the size and relative sizes of the vehicle elements may be exaggerated for clarity. Similar numbers refer to similar items on all drawings. However, this concept of the invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Instead, these embodiments are provided so that this description is complete, and communicate the scope of the concept of the invention to those skilled in the art. The scope of the invention is therefore defined by the appended claims. The following embodiments are examined, for the sake of simplicity, in relation to the terminology and structure of a handling goods vehicle. However, the embodiments which will be discussed next are not limited to these handling vehicles, but can be applied to other vehicles with telescopic arms.
    A reference throughout the description, to "an embodiment" means that a particular feature, structure, or feature described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in one embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. In addition, the particular features, structures, or features may be combined in any suitable manner in one or more embodiments.
    According to a particular embodiment illustrated in FIG. 2, the vehicle is of the telescopic arm type. The chassis of the vehicle 1 carries a telescopic arm 6 hinged about a substantially horizontal axis. In the example illustrated in FIG. 2, the telescopic arm 6 is intended to be equipped at its distal end with a bucket 7. The telescopic arm 6 is raised or lowered while being inclined at an angle A6 with respect to the horizontal plane H. The telescopic arm 6 can extend or retract. The arm then has a length L6. The length L6 and the angle A6 of the telescopic arm are measured by sensors connected to a computer of the vehicle.
    According to an embodiment illustrated in Figure 1, the vehicle also comprises a steering wheel 10 and a sensor C10 of the steering angle of the steering wheel so as to calculate a parameter representative of the handling of the steering wheel.
    The sensor C10 can be arranged to detect the pivot angle of the steering column coupled to the steering wheel 10.
    The sensor C10 is connected to a computer 101 for managing the organs of the vehicle. The acquisition of the pivot angle of the steering wheel 10 as a function of time enables the computer 101, or another computer 102 connected to said computer 101, to calculate the angular position, the angular velocity (or pivoting speed), the angular acceleration or the angular travel traveled continuously by the steering wheel.
    In the example illustrated in the figures, the rolling vehicle comprises four steering wheels. Alternatively, it can be provided that only the front wheels of the vehicle are steered. At least two wheels are driving. The four wheels can be driven so as to allow the wheels to be directed in a crab configuration to be able to approach precisely a given area.
    The vehicle comprises a steering transmission device 20 for transmitting the steering movement between the steering wheel 10 and the steering wheels 11. This movement is transmitted in a given steering ratio R, also called steering ratio. The steering ratio is defined by R = Beta / Alpha with Beta the steering angle of the wheels, and Alpha the steering angle of the steering wheel.
    As detailed below, the vehicle comprises a control module 102 of the steering ratio R. This steering ratio can still be defined as the ratio N0 / NFaststeering. N0 and NFaststeering are defined as follows. When the control module 102 of the report is inactive, the operator must make N0 turns of the steering wheel to steer the steering wheel stops abutting. When the control module 102 is active, the number of turns of the steering wheel necessary to steer the abutment thrust wheels is modified and becomes NFaststeering ·
    According to one embodiment, the maximum steering ratio, denoted Rmax, is defined so as to make it possible to steer the stop steering wheels in abutment at 30 ° of rotation of the steering wheel, that is to say ± 15 ° relative to at the neutral position of the steering wheel. The neutral position of the steering wheel corresponds to the position of the steering wheel for which the wheels are straight.
    According to one embodiment, it is possible for the steering ratio R to bring the wheels into abutment with a single turn of the steering wheel, unlike standard handling vehicles that require to perform a greater number of steering wheel turns, for example. example 4 laps.
    Thus, when the steering wheel 10 is rotated by an angle Alpha, the steering transmission device rotates the steering wheels 11 of the angle Beta defined by the steering ratio R.
    The steering transmission device 20 thus forms with the control module 102 of the steering ratio of the computer, a variable steering ratio system for varying the ratio between the wheel angle and the steering wheel angle.
    The control module 102 of the steering ratio is configured to change the steering ratio as a function of a parameter relative to the telescopic arm. Preferably, said parameter comprises the angle A6 formed by the telescopic arm with the ground plane of the wheels of the vehicle. Said parameter can also include the length L6 of the telescopic arm. For this purpose the vehicle comprises one or more sensors, such as an angle sensor A6 formed by the telescopic arm with the ground plane of the wheels of the vehicle, and / or a sensor of the length L6 of the arm telescopic.
    According to one embodiment, the control module 102 of the steering ratio R is configured to change the direction ratio R as a function of the angle A6 formed by the telescopic arm with the ground plane of the wheels of the vehicle. Advantageously, the steering ratio R is also modified according to the length L6 of the telescopic arm. The ground support plane of the vehicle wheels is usually the horizontal plane.
    It can thus be expected that the steering ratio 6 is decreased when the angle and / or length increases to reduce the risk of overturning the vehicle. The modification of the ratio may also take into account a handling parameter of the steering wheel and / or the speed of movement of the vehicle as explained above.
    Advantageously, the vehicle also comprises a load sensor C6 configured to determine the load at or near the end of the telescopic arm. The steering ratio control module 102 is then configured to modify the steering ratio R as a function of the determined load, which makes it possible to limit the steering ratio when the load is greater than a threshold value.
    Advantageously, the control module 102 of the steering ratio is also configured to modify the steering ratio as a function of the angular speed of the steering wheel 10. The control module 102 of the steering ratio R is also configured to modify the steering ratio by function of a steering wheel manipulation parameter calculated from the steering angle of the steering wheel. For this purpose and as shown in FIG. 1, said system uses a sensor C10 of the steering angle of the steering wheel.
    The control module 102 of the steering ratio R is configured such that the steering ratio R has a first ratio value when the angular velocity is non-zero and less than a given threshold angular velocity value, for example when the driver slowly turn the steering wheel. Advantageously, the steering ratio R has a second ratio value greater than the first ratio value when the angular velocity is greater than the given threshold angular velocity value. Such a configuration of the control module improves the positioning accuracy of the vehicle, especially when the driver slowly turns the wheel to move the vehicle precisely, while facilitating the maneuvering of the vehicle when the driver quickly turns the wheel to change the way direction.
    In other words, the steering ratio is low, preferably close to 1, when the steering speed of the steering wheel is low and is greater when the pivoting speed is higher.
    According to a particular aspect, several angular speed ranges are defined. The steering ratio has different values from one range of values to another or obeys different functions from one range of values to another. Within the same range of values, it is expected that the ratio value is constant or variable depending on other parameters associated with the vehicle.
    Preferably, the value of the steering ratio is also conditioned by one or more other parameters, such as the speed of movement of the vehicle as detailed below.
    According to a particular embodiment, the control module 102 of the steering ratio R is configured to modify the steering ratio R taking into account the speed of movement of the vehicle. The speed of movement of the vehicle can be transmitted to the control module 102 by the computer 101 of the vehicle. It can thus be provided that the steering ratio R is limited or decreased when the speed of movement increases and / or from a threshold speed of movement to reduce the risk of overturning the vehicle.
    In other words, it can be provided that the modification of the steering ratio is framed by threshold values of the speed of movement of the vehicle. Said thresholds may comprise a minimum speed threshold Vmin preferably modifiable, for example 2 km / h, and a maximum speed threshold
    Vmax, for example 18km / h. Advantageously, the steering ratio is constant below Vmin and follows a logarithmic decay law between Vmin and Vmax until it returns to a value substantially equal to 1, which makes it possible to maintain, at a high speed of movement of the vehicle, a steeper and less sensitive direction to preserve the comfort and safety of driving the vehicle.
    The vehicle comprises an electronic and / or computer processing and computing system 100 that includes the first computer 101 configured to process the data from the sensors and control the electric actuators of the vehicle. A second computer 102 is connected to the first computer 101. Said steering ratio control module is implemented in said second computer 102. Alternatively, said first computer and the second computer can be made in the form of a single processing unit. electronic and / or computer, that is to say in the form of the same computer.
    The steering transmission device 20 is of the hydraulic type. According to an embodiment illustrated in Figure 1, the steering transmission device 20 comprises a hydraulic steering circuit pressurized by a pump 19, also called accessory pump. The steering transmission device 20 comprises a hydraulic cylinder system 14 coupled to the steering wheels 11. The hydraulic cylinder system comprises hydraulic cylinders for directing the wheels in one direction or another and a given steering angle in function of the steering wheel rotation. In the example illustrated in the figures, the front wheels and the rear wheels are steered so that the jack system comprises two jacks. In a variant, when only the front wheels are steered, it is possible to provide for the jack system to comprise a single jack.
    The vehicle also includes a hydraulic distributor 13, which forms a priority valve, to ensure a sufficient available flow in the hydraulic steering circuit compared to other hydraulic accessory functions.
    A steering pump 12, formed by a 3-way valve, is coupled to the steering wheel 10 so as to deliver a flow of steering fluid, supplied by the accessory pump 19, depending on the rotation of the steering wheel. The steering pump 12 directs the steering fluid delivered by the accessory pump 19 on one side or the other of each of the cylinders 14 according to the direction of rotation of the steering wheel 10.
    The vehicle also comprises a proportional solenoid valve 15 controllable by the control module 102 to control the addition of an additional flow of liquid direction in the hydraulic circuit according to the direction ratio defined by the control module. The proportional solenoid valve can be housed with the steering pump within the same housing 17 called orbitrol, or be placed elsewhere on the hydraulic circuit between the steering pump and the cylinder system.
    The control module 102 determines the direction ratio to be applied as a function of the parameter or parameters determined by the sensor or sensors, and then commands, for example via the vehicle management computer 101, the activation of the solenoid valve. proportional so as to inject into the system of hydraulic cylinders 14 a liquid flow corresponding to the calculated direction ratio.
    It can be provided that the vehicle comprises inactivation means for inactivating the control module 102 of the steering ratio so that the steering ratio is the direction ratio defined by default. For example the inactivation can be controlled following the detection of a malfunction of the vehicle.
    The processing and computing system, or the or each computer, can be realized in the form of electronic components and / or a computer processor, for example of the microprocessor or microcontroller type. The steering ratio control module can then be implemented as implemented programs that include computer instructions for performing their function, or as dedicated electronic components.
    These computer programs, or computer instructions, may be contained in program storage devices, such as computer-readable digital data storage media, or executable programs. Programs or instructions can also be run from program storage devices. The invention is not limited to the embodiments illustrated in the drawings. Accordingly, it should be understood that when the features mentioned in the appended claims are followed by reference signs, these signs are included solely for the purpose of improving the intelligibility of the claims and are in no way limiting to the scope of the claims. claims.
    Moreover, the term "including" does not exclude other elements or steps. In addition, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    A steering ratio modification system for a tilting telescopic hand-held vehicle (6), the vehicle comprising steering wheels (11), a steering wheel (10) and a steering transmission device (20) for transmitting the steering movement between the steering wheel (10) and the steering wheels (11) in a steering ratio R = Beta / Alpha, with Beta the steering angle of the wheels, and Alpha the steering angle of the steering wheel, characterized in what the system comprises: a sensor configured to determine a parameter relating to the telescopic arm, for example an angle sensor (A6) formed by the telescopic arm with the ground support plane of the wheels of the vehicle, and or a sensor of the length (L6) of the telescopic arm; - a control module (102) of the steering ratio configured to modify the steering ratio R as a function of said parameter relative to the telescopic arm.
    [2" id="c-fr-0002]
    2. System according to claim 1, characterized in that, said system comprising a load sensor configured to determine the load at or near the end of the telescopic arm (6), the control module (102) of the steering ratio is configured to change the steering ratio R according to said determined load.
    [3" id="c-fr-0003]
    3. System according to one of the preceding claims, characterized in that, said system comprising a sensor (C10) of the steering wheel steering angle, the control module (102) of the steering ratio R is also configured to modify the steering ratio according to a handling parameter of the steering wheel calculated from the steering angle of the steering wheel.
    [4" id="c-fr-0004]
    4. System according to claim 3, characterized in that said handling parameter of the steering wheel comprises the angular speed of the steering wheel (10).
    [5" id="c-fr-0005]
    5. System according to claim 4, characterized in that, several angular velocity ranges being defined, the steering ratio has different values from one angular velocity range to another and / or obeys different functions of a different velocity range. angular velocity range to another.
    [6" id="c-fr-0006]
    6. System according to one of claims 3 to 5, characterized in that said handling parameter of the steering wheel comprises the angular acceleration of the steering wheel (10).
    [7" id="c-fr-0007]
    7. System according to one of claims 3 to 6, characterized in that said handling parameter of the steering wheel comprises the angular position of the flywheel (10) and / or the angular travel traveled continuously.
    [8" id="c-fr-0008]
    8. A rolling vehicle comprising: - steered wheels (11); - a steering wheel (10); a steering transmission device (20) for transmitting the steering movement between the steering wheel (10) and the steering wheels (11) in a ratio R = Beta / Alpha direction with Beta the steering angle of the wheels, and Alpha the steering angle of the steering wheel; characterized in that said vehicle comprises a steering ratio modification system according to one of the preceding claims.
    [9" id="c-fr-0009]
    9. Vehicle according to claim 8, characterized in that the control module (102) of the steering ratio (R) is configured to change the steering ratio (R) as a function of the speed of movement of the vehicle and / or depressing the accelerator pedal.
    [10" id="c-fr-0010]
    10. Vehicle according to one of claims 8 or 9, characterized in that the device (20) for transmission of direction comprises a hydraulic circuit.
    [11" id="c-fr-0011]
    11. Vehicle according to claim 10, characterized in that the hydraulic circuit comprises: - a pump (19), also called accessory pump, for pressurizing the hydraulic circuit; - a hydraulic cylinder system (14) coupled to the steering wheels (11); - A steering pump (12) for directing the steering fluid on either side of or each jack of the hydraulic cylinder system (14) depending on the rotation of the steering wheel; a flow addition system, preferably a proportional solenoid valve (15), controllable by the control module (102) to add an additional flow of steering liquid in the hydraulic circuit as a function of the direction ratio defined by the module control.
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    同族专利:
    公开号 | 公开日
    EP3356283A1|2018-08-08|
    EP3356283B1|2019-07-03|
    US20190061813A1|2019-02-28|
    PL3356283T3|2020-03-31|
    FR3041922B1|2017-11-24|
    HUE046264T2|2020-02-28|
    PT3356283T|2019-09-09|
    WO2017055774A1|2017-04-06|
    US10710630B2|2020-07-14|
    ES2746013T3|2020-03-04|
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    DE102013008979A1|2013-05-28|2014-12-04|CES Containerhandling Equipment & Solutions GmbH|Dump truck and procedure to its control|
    JP2015168294A|2014-03-05|2015-09-28|日立建機株式会社|work vehicle|
    FR3041922B1|2015-10-01|2017-11-24|Manitou Bf|DIRECTION RATIO MODIFICATION SYSTEM FOR TELESCOPIC ARM VEHICLE AND CORRESPONDING VEHICLE|CN111056498A|2019-12-25|2020-04-24|三一海洋重工有限公司|Forklift anti-tipping structure, forklift anti-tipping method and telescopic arm forklift|
    法律状态:
    2016-10-20| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-07| PLSC| Publication of the preliminary search report|Effective date: 20170407 |
    2017-10-24| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-22| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-28| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-21| PLFP| Fee payment|Year of fee payment: 6 |
    2021-10-21| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1559356A|FR3041922B1|2015-10-01|2015-10-01|DIRECTION RATIO MODIFICATION SYSTEM FOR TELESCOPIC ARM VEHICLE AND CORRESPONDING VEHICLE|FR1559356A| FR3041922B1|2015-10-01|2015-10-01|DIRECTION RATIO MODIFICATION SYSTEM FOR TELESCOPIC ARM VEHICLE AND CORRESPONDING VEHICLE|
    US15/763,337| US10710630B2|2015-10-01|2016-09-30|System for modification of the steering ratio for a vehicle with a telescopic arm, and corresponding vehicle|
    ES16790641T| ES2746013T3|2015-10-01|2016-09-30|Steering ratio modification system for vehicle with telescopic arm and corresponding vehicle|
    PT16790641T| PT3356283T|2015-10-01|2016-09-30|System for modification of the steering ratio for a vehicle with a telescopic arm, and corresponding vehicle|
    PL16790641T| PL3356283T3|2015-10-01|2016-09-30|System for modification of the steering ratio for a vehicle with a telescopic arm, and corresponding vehicle|
    EP16790641.1A| EP3356283B1|2015-10-01|2016-09-30|System for modification of the steering ratio for a vehicle with a telescopic arm, and corresponding vehicle|
    PCT/FR2016/052511| WO2017055774A1|2015-10-01|2016-09-30|System for modification of the steering ratio for a vehicle with a telescopic arm, and corresponding vehicle|
    HUE16790641A| HUE046264T2|2015-10-01|2016-09-30|System for modification of the steering ratio for a vehicle with a telescopic arm, and corresponding vehicle|
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