Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

An apparatus for controlling an amphibious vehicle includes an engine, a land propeller generating a propulsion force on land, a water propeller generating a propulsion force on water, a power distributor distributing power to the land propeller and the water propeller, a transmission for changing a shift ratio of the power supplied to the land propeller, and a controller, wherein the controller selects and executes one of a land mode for controlling travel on land, a water mode for controlling travel on the water, and a transition mode controlling the travel in a transition region, and the controller maintains an engine output torque in the land mode to be constant and maintains an engine output speed in the water mode and the transition mode to be constant.

Vehicles are disclosed that are configured to carry loads in a stabilized manner, such that the load is maintained in a substantially constant position or orientation relative to a predetermined reference point or frame even as the vehicle moves. A stabilization controller in such a vehicle receives information about movement of the vehicle relative to the reference point or plane from one or more sensors on the vehicle, and uses the information to control one or more movable objects by which the load is secured to the vehicle so as to maintain a relatively constant relationship between the load and the reference point or plane.

The present invention provides a power train for an amphibian operable in land and marine modes. The power train including a prime mover, a first land propulsion device, a first marine propulsion device, and a speed change transmission, wherein the prime mover is arranged to drive the first land propulsion device via the speed change transmission in land mode, and at least a portion of the prime mover is located between the speed change transmission and a rearward most part of the amphibian, with the speed change transmission located spaced ahead of the prime mover by a selected distance using one or more drive shaft(s).

The invention concerns an amphibious transformer vehicle (ATV) having flexible pontoon-skegs and a flexible frame allowing the ATV which carries passenger or cargo to smoothly transition between varying types of terrain and handle waves and uneven terrain. This vehicle is designed to move over water, snow, ice, ground, sand and other loose surfaces, as well as paved and other hard services as well as grass and light vegetation. It can make transitions between all the surfaces without need to stop or perform any modifications to the vehicle to transition between surfaces. This vehicle has advantages over other hovercraft and airboats that are designed with rigid frames and hulls. Based on a design using a flexible frame and structures that lean on flexible pontoon-skegs it can handle waves and obstacles without being damaged and it is not upset by a wide range of variations in terrain.

An apparatus for controlling an amphibious vehicle includes an engine, a land propeller generating a propulsion force on land, a water propeller generating a propulsion force on water, a power distributor distributing power to the land propeller and the water propeller, a transmission for changing a shift ratio of the power supplied to the land propeller, and a controller, wherein the controller selects and executes one of a land mode for controlling travel on land, a water mode for controlling travel on the water, and a transition mode controlling the travel in a transition region, and the controller maintains an engine output torque in the land mode to be constant and maintains an engine output speed in the water mode and the transition mode to be constant.

An engine control strategy for a marine vessel propulsion system receives a request for a gear from among plural transmission gears, determines an engine speed for the requested transmission gear shift, adjusts the engine to the determined speed for a predetermined amount of time, and prevents the requested transmission gear shift from occurring for the predetermined amount of time while maintaining the engine at the predetermined speed. After the predetermined amount of time elapses, the requested shift is allowed to occur.

Methods and systems are provided for estimating a level of water in real time for a vehicle and using the said estimation to perform one or more vehicle control strategies. In one example, a method may include adjusting a valve in a fuel system of the vehicle responsive to a level of water through which the vehicle is passing. In this way, water inhalation into the vehicle fuel system may be avoided.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.