The present disclosure relates to a steerable wheel axle arrangement for a vehicle, the steerable wheel axle arrangement being connectable to a pair of wheels and comprising a steering linkage connectable to the pair of wheels; a cylinder comprising a fluidly controlled piston movable within the cylinder, wherein the fluidly controlled piston is connected to the steering linkage; and a fluidly controlled brake actuator adapted to be in fluid communication with a wheel brake of the vehicle for controlling braking of the wheels, wherein the fluidly controlled brake actuator is arranged in fluid communication with the cylinder, and wherein the fluidly controlled piston exerts a steering force on the steering linkage upon actuation of the fluidly controlled brake actuator for steering the wheels.

The turning radius of a differentially steered vehicle towing a trailer is controlled when turning so that its turning radius is greater than a minimum allowable turning radius. The turning radius may be autonomously adjusted using a controller to monitor the instantaneous rotational speed differential between the driven wheels and increase or decrease the relative speed between the wheels when the instantaneous rotational speed differential exceeds a threshold rotational speed differential, indicating a turn which is too tight. Alternately, the turning radius may be controlled by the vehicle's operator, who receives a signal from the controller indicating that the vehicle's turning radius is less than the minimum allowable. The operator may then take action to enlarge the turning radius using manual controls.

A driverless transport system comprising a chassis (1), drive wheels (2) and jockey wheels (3), wherein, on each of a first side of the chassis (1) and a second side of the chassis (1) opposite the first side, a floating axle (4) arranged in the longitudinal direction is pivotably connected to the chassis (1) at a connection point (5) assigned in each case, a drive wheel (2) being arranged at one end of each of the floating axles (4) and a jockey wheel (3) being arranged at the opposite end of each of the floating axles (4), the driverless transport system additionally having a floating axle (6) arranged in the transverse direction which is aligned transversely to the two floating axles (4) arranged in the longitudinal direction and is pivotably or fixedly connected to the chassis (1) at an assigned connection point (5), a jockey wheel (3) being arranged at each end of the floating axle (6) arranged in the transverse direction.

Systems and methods are provided herein for operating a vehicle in a front dig mode. The front dig mode is engaged in response to determining that speed of the vehicle is below a speed threshold and determining that the amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the front dig mode, forward torque is provided to the front wheels of the vehicle. Further, resistance is applied to forward rotation of the inner back wheel of the vehicle. Yet further, forward torque is provided to the outer back wheel of the vehicle.

A turning control device is provided for use in a vehicle control system including a steer-by-wire system and a brake system. The turning control device is configured to calculate a braking force difference, which is a difference in braking force between the left and right tire wheels. The turning control device is further configured to perform a high turning control that provides the braking force difference to the left and right tire wheels to cause a smaller turning radius of the vehicle when a steering angle corresponding value is larger than a judgment threshold.

The turning radius of a differentially steered vehicle towing a trailer is controlled when turning so that its turning radius is greater than a minimum allowable turning radius. The turning radius may be autonomously adjusted using a controller to monitor the instantaneous rotational speed differential between the driven wheels and increase or decrease the relative speed between the wheels when the instantaneous rotational speed differential exceeds a threshold rotational speed differential, indicating a turn which is too tight. Alternately, the turning radius may be controlled by the vehicle's operator, who receives a signal from the controller indicating that the vehicle's turning radius is less than the minimum allowable. The operator may then take action to enlarge the turning radius using manual controls.

A surface characterization system includes an active suspension a system with a wheel controller to control a first and second wheel of a vehicle where the active suspension causes a difference in loading between the first and second wheel. The wheel controller may cause the first wheel to slow and receive a signal indicative of a change of state of the vehicle. The wheel controller may cause the second wheel to oppose the change of state caused by the first wheel. The surface characterization system may estimate tire-surface parameterization data associated with the first tire and a surface upon which the vehicle is located.

A motor vehicle is controlled via a method, particularly for steering during a malfunction. Two wheels are arranged on a steerable axle of the motor vehicle and each can be driven by a single-wheel drive. At least one wheel is arranged on a non-steerable axle of the motor vehicle and can be driven by a wheel drive. In the event of a malfunction of one of the single-wheel drives being identified, a drive torque or a braking torque is generated with the functioning single-wheel drive of the wheel arranged on the steerable axle of the motor vehicle to steer the wheels arranged on the steerable axle in a specified direction. A drive torque or a braking torque is generated with the wheel drive of the wheel arranged on the non-steerable axle of the motor vehicle to at least partially bring about a specified longitudinal movement of the motor vehicle.

There is provided a drive assembly comprising: a reconfigurable differential drive comprising a first wheel and a second wheel, wherein the first and second wheels are moveable with different angular velocities around respective first and second rotation axes; a steering actuator configured to rotate the first wheel around a first pivot axis and/or the second wheel around a second pivot axis; wherein the first and second wheels are coupled such that a rotation of the first wheel around the first pivot axis by a first adjustment angle results in a rotation of the second wheel around the second pivot axis by a second adjustment angle, the second adjustment angle being dependent on the first adjustment angle.

A number of variations may include a method including using at least one of brakes or propulsion energy to steer an autonomous or semi-autonomous vehicle if a primary, secondary or other redundant steering system for an autonomous or semi-autonomous vehicle has failed or is insufficiently unhealthy to perform a desired function, the method including determining if a primary, secondary or other redundant steering system of an autonomous or semi-autonomous vehicle has failed or is not sufficiently healthy to perform a desired function, and if so, converting a steer request into a desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, calculating a brake pressure sufficient to produce the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, delivering brake pressures signals via a lateral control module to an actuator for at least one brake connected to a wheel of the vehicle so that the brake pressure causes the vehicle yaw at the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration.