A steerable suspension system for a vehicle, especially useful in a self-propelled vehicle that can include a worker-platform and optionally include pick-up, transport, and delivery apparatus for produce bins. The steerable suspension system includes independent pairs of parallel arms, each pair coupled to a single steerable drive-wheel, serving as both a suspension and as a shock absorber, with the parallel-acting pair of arms maintaining the steering-leg in its substantially vertical position relative to a ground surface. This steerable suspension system aids the steerable movement and suspension of the vehicle, while increasing safety and maneuverability, and helps to reduce the number of workers required to operate the vehicle.

Systems and methods for controlling wheel motion during a collision are provided. A retaining member may be connectable between a vehicle frame and a wheel assembly to control motion of the wheel assembly during a collision of a vehicle with an object. The retaining member may include one or more of a first attachment point connecting the retaining member to the vehicle frame, a second attachment point connecting the retaining member to the wheel assembly, a retaining member routing, and/or one or more break-away connections attaching the retaining member to the vehicle frame and/or to the wheel assembly. The first and second attachment points, retaining member routing, and/or break-away connections may be selected to control motion of the wheel assembly within a preferred path to control loading between the object and the vehicle.

Systems and methods for controlling wheel motion during a collision are provided. A retaining member may be connectable between a vehicle frame and a wheel assembly to control motion of the wheel assembly during a collision of a vehicle with an object. The retaining member may include one or more of a first attachment point connecting the retaining member to the vehicle frame, a second attachment point connecting the retaining member to the wheel assembly, a retaining member routing, and/or one or more break-away connections attaching the retaining member to the vehicle frame and/or to the wheel assembly. The first and second attachment points, retaining member routing, and/or break-away connections may be selected to control motion of the wheel assembly within a preferred path to control loading between the object and the vehicle.

Provided is a vehicle turning control device which prevents a target yaw rate from being unstable, even if a control gain is changed in accordance with the magnitude of a yaw rate deviation or a road surface frictional coefficient. This vehicle turning control device includes a target yaw rate correction (32). The correction (32) calculates a target yaw rate with respect to the control gain determined based on a vehicle traveling information, using at least one of a plurality of calculated target yaw rates. The control gain is determined such that, as a road surface frictional coefficient decreases or as a yaw rate deviation increases, a yaw response characteristic approaches a basic yaw response characteristic from an initial yaw response characteristic.

A mobile machine includes a computerized system for determining a synchronized free-floating center of rotation. The synchronized free-floating center of rotation effectively coordinates the rotation of the machine's tracks or wheels in that it constrains the angles of rotation. The synchronized free-floating center of rotation is calculated based on a line-line intersection derived from a combined attack angle and one or more known reference points. Such system may allow rotation and counter-rotation utilizing a uniform hydraulic pressure for hydraulically driven tracks.

A mobile machine includes a computerized system for determining a synchronized free-floating center of rotation. The synchronized free-floating center of rotation effectively coordinates the rotation of the machine's tracks or wheels in that it constrains the angles of rotation. The synchronized free-floating center of rotation is calculated based on a line-line intersection derived from a combined attack angle and one or more known reference points. Such system may allow rotation and counter-rotation utilizing a uniform hydraulic pressure for hydraulically driven tracks.

Generally described, an articulated wheel fairing system for a vehicle having a steering system with a neutral steering input and a non-neutral steering input is provided. The articulated wheel fairing system provides clearance to the steer tire and wheel of the vehicle during non-neutral steering input, such as when the vehicle is turning at slower road speeds. The wheel fairing system generally includes an articulating fairing panel configured to cover at least a portion of the steer wheel, where the fairing panel movable from a first position adjacent to the steer wheel, such as when the vehicle is traveling at higher road speeds, to a second position outwardly from the first position. The wheel fairing system includes a mechanical linkage or actuator coupled to the fairing panel and the vehicle and configured to move the frame between the first position and the second position relative to the vehicle.

Generally described, an articulated wheel fairing system for a vehicle having a steering system with a neutral steering input and a non-neutral steering input is provided. The articulated wheel fairing system provides clearance to the steer tire and wheel of the vehicle during non-neutral steering input, such as when the vehicle is turning at slower road speeds. The wheel fairing system generally includes an articulating fairing panel configured to cover at least a portion of the steer wheel, where the fairing panel movable from a first position adjacent to the steer wheel, such as when the vehicle is traveling at higher road speeds, to a second position outwardly from the first position. The wheel fairing system includes a mechanical linkage or actuator coupled to the fairing panel and the vehicle and configured to move the frame between the first position and the second position relative to the vehicle.

Operating a vehicle in an automated steering control mode wherein the vehicle includes a controller operatively coupled with an articulated steering system and a front axle steering system. The controller is configured to identify a desired path of curvature of the vehicle and determine a front axle steering angle of the front axle steering system and command the front axle steering system to operate at the front axle steering angle and also determine an articulation steering angle of the articulated steering system and command the articulated steering system to operate at the articulation steering angle. A further form includes operating front and rear ground engaging means at a designated speed, and thereafter operating the articulated steering system and the front axle steering system based on the designated speed being greater than a transport speed threshold, less than a field speed threshold or between the two.

A vehicle steering assembly and method for steering a vehicle includes an array of electromagnets fixed relative to the vehicle, and a charged plate that is moveable with respect to the array and connected to a wheel that determines the travel direction of the vehicle. When activated, the electromagnets produce a charge that is opposite that of the charged plate, thus attracting the charged plate. The electromagnets are selectively activated to move a centroid of a charged region about the array to thereby move the charged plate in a desired direction. Movement of the charged plate causes a corresponding movement of the wheel to which it is connected. Movement of the wheel thus establishes a travel direction for the vehicle.