A system and method for steering a machine. The system may comprise a controller configured to receive a steering command and determine a target angular turn rate for the body and a target turn direction for the body. The controller may be further configured to determine a steering mode based on a transmission output torque, the steering mode including Traction-steering, Assisted-steering or Implement-steering. When the steering mode is Assisted-steering, the controller is configured to steer the machine in the target turn direction and at the target angular turn rate by (a) moving an implement from a first position to a second position and (b) diverting or removing power from a first ground engaging traction member. When the steering mode is Implement-steering, the controller is configured to move the implement from a first position to a second position to steer the machine in the target turn direction and at the target angular turn rate without diverting or removing power from the first ground engaging traction member.

A system and method for steering a machine. The system may comprise a controller configured to receive a steering command and determine a target angular turn rate for the body and a target turn direction for the body. The controller may be further configured to determine a steering mode based on a transmission output torque, the steering mode including Traction-steering, Assisted-steering or Implement-steering. When the steering mode is Assisted-steering, the controller is configured to steer the machine in the target turn direction and at the target angular turn rate by (a) moving an implement from a first position to a second position and (b) diverting or removing power from a first ground engaging traction member. When the steering mode is Implement-steering, the controller is configured to move the implement from a first position to a second position to steer the machine in the target turn direction and at the target angular turn rate without diverting or removing power from the first ground engaging traction member.

In general, one aspect disclosed features an apparatus comprising: a mobile agricultural structure; and at least one wheel assembly mechanically coupled to the mobile agricultural structure, wherein each wheel assembly comprises: two or more wheels, a motor disposed between two of the wheels, a drive transference mechanically coupled to the motor and the wheels, wherein the motor is configured to turn the drive transference and the wheels together, a housing, wherein the motor is enclosed by the housing, and a rotatable mechanical linkage mechanically coupled between the housing and the mobile agricultural structure.

In general, one aspect disclosed features an apparatus comprising: a mobile agricultural structure; and at least one wheel assembly mechanically coupled to the mobile agricultural structure, wherein each wheel assembly comprises: two or more wheels, a motor disposed between two of the wheels, a drive transference mechanically coupled to the motor and the wheels, wherein the motor is configured to turn the drive transference and the wheels together, a housing, wherein the motor is enclosed by the housing, and a rotatable mechanical linkage mechanically coupled between the housing and the mobile agricultural structure.

Disclosed herein are an anti-stall control method and system for a tracked vehicle. The system includes a control module that includes a processor and a storage medium for storing computer programming code. The computer programming code defines a set of behaviour states including: a start state, a tramming state, and at least one corrective state. Each behaviour state has an associated set of behaviour controls for governing control of tracks of the vehicle. The computer programming code, executed on the processor, performs the method steps of: assigning an initial start state, wherein the tracks of the tracked vehicle are stationary; changing to the tramming state, on receipt of instructions to move the tracked vehicle, wherein tramming behaviour controls control the tracks of the tracked vehicle to operate in the same direction; and changing to a corrective states when corrective state conditions associated with that corrective state are satisfied.

Disclosed herein are an anti-stall control method and system for a tracked vehicle. The system includes a control module that includes a processor and a storage medium for storing computer programming code. The computer programming code defines a set of behaviour states including: a start state, a tramming state, and at least one corrective state. Each behaviour state has an associated set of behaviour controls for governing control of tracks of the vehicle. The computer programming code, executed on the processor, performs the method steps of: assigning an initial start state, wherein the tracks of the tracked vehicle are stationary; changing to the tramming state, on receipt of instructions to move the tracked vehicle, wherein tramming behaviour controls control the tracks of the tracked vehicle to operate in the same direction; and changing to a corrective states when corrective state conditions associated with that corrective state are satisfied.

A body swing collision avoidance system and method for a machine with steerable traction devices for moving the machine. Sensors monitor obstacles around the machine. A commanded body swing path is calculated based on operator steering commands. If an obstacle is in the commanded body swing path, the system automatically adjusts the steering commands to avoid collision with the obstacle. A time to collision can be calculated, and the steering commands adjusted only when it is below a threshold. Adjusting the steering commands to avoid collision can include determining propel and steer components based on the steering commands; and if propel is greater than a threshold then adjusting the steering commands to adjust the swing path to avoid collision; and if propel is less than the threshold then adjusting the steering commands to slow the machine to avoid collision.

A human-machine interaction somatosensory vehicle is provided. The human-machine interaction somatosensory vehicle may include a vehicle body and two wheels mounted on the vehicle body. The two wheels may rotate around the vehicle body in a radial direction. The vehicle body may include a support frame, two pedal devices mounted on the support frame, a controller, and a driving device configured to drive the two wheels. The support frame may be an integral structure rotatably connected to the two pedal devices. The two pedal devices each may include a pedal foot board and a first position sensor. The first position sensor may be mounted between the pedal foot board and the support frame, and configured to detect stress information of the pedal device. The controller may be configured to control the driving device to drive the two wheels to move or turn based on the stress information of the pedal devices.

A human-machine interaction somatosensory vehicle is provided. The human-machine interaction somatosensory vehicle may include a vehicle body and two wheels mounted on the vehicle body. The two wheels may rotate around the vehicle body in a radial direction. The vehicle body may include a support frame, two pedal devices mounted on the support frame, a controller, and a driving device configured to drive the two wheels. The support frame may be an integral structure rotatably connected to the two pedal devices. The two pedal devices each may include a pedal foot board and a first position sensor. The first position sensor may be mounted between the pedal foot board and the support frame, and configured to detect stress information of the pedal device. The controller may be configured to control the driving device to drive the two wheels to move or turn based on the stress information of the pedal devices.

A device for the steering assistance of a vehicle combination of a towing vehicle and an attached implement in which the attached implement swivels at a rear coupling point of the towing vehicle. The implement includes wheels that are arranged on opposite sides, which can be acted on by the control of corresponding individual wheel drives, independently of one another, with a drive torque. An electronic control unit applies a yawing moment to the implement by the asymmetrical control of the individual wheel drives in such a way that a transverse force exerted on the towing vehicle through the rear coupling point, builds up in the sense of the attainment of a pre-specified steering behavior of the vehicle combination.