Abstract: An agricultural machine including a carrying vehicle and plural work units configured to cut a standing product. The agricultural machine includes four steering and driving wheels that support the carrying vehicle, at least two front work units arranged, during work and viewed in a direction of forward travel of the carrying vehicle, at the front of the carrying vehicle, and at least two lateral work units arranged, during work, on either side of a work area of the front work units. The front work units and the lateral work units can be moved with respect to the carrying vehicle and can pivot in mutually opposite directions with respect to each other, to occupy a transport position or a work position. In the work position, a work area of a first front work unit partially overlaps a work area of a second front work unit.

Abstract: A target yaw moment Mt of a vehicle is calculated to make the vehicle run stably (S20). The change rate ?d of an accelerator pedal operation amount ? is calculated (S30). Based on the change rate ?d, a proportion ?s1 for a steering angle control is calculated (S50). When the change rate ?d is a positive value, the proportion ?s1 gradually increases as the change rate ?d increases. A proportion ?b for a braking force control is calculated by subtracting the proportion ?s1 from 1 (1??s1) (S60). Based on the proportions ?s1 and ?b, a target yaw moment Mts for the steering angle control and a target yaw moment Mtb for the braking force control are calculated (S70). A steering-angle changing device (24) and a braking device (36) are controlled based on the target yaw moments Mts and Mtb, respectively (S400 to S430).

Abstract: The present invention relates to a mobile robot having jump function. An exemplary mobile robot according to an embodiment of the present invention includes a robot body, a pair of wheels, a driving motor, a leaf spring, and a leaf spring control unit. The pair of wheels are rotatably connected to the robot body. The driving motor drives the pair of wheels so as to move the robot body. The leaf spring has a fixed end fixedly connected to the robot body and a free end disposed to face the fixed end in a state of being apart from the robot body. The leaf spring control unit applies force for bending the leaf spring such that the free end of the leaf spring is pulled toward the robot body and then removes the force applied to the leaf spring such that the leaf spring returns to an original state.

Abstract: An omni-directional vehicle (ODV) with a circular frame revolvably coupled to an appendage ring using a full circumferential coupling assembly. The appendage ring serves as a point of attachment for a push bar, trailer, tool, vehicle chassis, or other device. Two independent drive wheels located on an axis through the center of the frame are mounted at the same distance from a central vertical axis through the frame. Each wheel is powered independently and can rotate at variable speeds in either direction. The ODV is capable of movement in any direction by rotating the axis of the drive wheels to a position which is perpendicular to the desired direction of travel. The ODV can spin about its vertical axis such that the axis of the drive wheels can be oriented at any direction without changing the original footprint of the space that the frame occupies over the ground.

Abstract: A drive mechanism includes a rotatable steering unit, a wheel supported by the steering unit, a drive member rotating about an axis extending along a center axis of the steering unit, an output shaft located at an offset position from the center axis of the steering unit and transmitting rotational force of the drive member to the wheel. The drive member includes a first drive unit driven in a forward rotation direction and a second drive unit driven in a reverse rotation direction and located coaxially with the first drive unit. The output shaft includes a first output unit to which driving force is transmitted from the first drive unit, and a second output unit to which driving force is transmitted from a conversion unit for converting rotation of the second drive unit, is restricted by both the output units, and transmits rotational force obtained from the output units to the wheel.

Abstract: When a collision avoidance operation determiner determines a collision avoidance operation by a driver, a target assist electrical current calculator calculates a target assist electrical current based on a deviation between a standard yaw rate corrected in accordance with avoidance momentum calculated by an avoidance momentum calculator and an actual yaw rate; and the target assist electrical current is supplied to a steering actuator to assist the collision avoidance operation by the driver. At this time, when an under-steer determiner determines an under-steer state, an assist electrical current is decreased by a reaction force electrical current calculated in a reaction force electrical current calculator. Therefore, a steering angle is prevented from becoming too large due to excessive assist, thereby facilitating a return operation after avoiding an obstacle.

Abstract: To provide a vehicle capable of maintaining a stable state when a rider gets on the step plate or get off the step plate. A vehicle is a vehicle that performs a turning movement based on the rotation of step plates on which a rider rides in the left/right direction. The vehicle includes restriction means to enable the rotation of the step plates in the left/right direction to be restricted. The vehicle preferably further includes first control means that controls the restriction means so that the rotation of the step plates in the left/right direction is restricted when the rider gets on the step plates or gets off the step plates.

Abstract: A microcomputer is provided with an extracting section capable of extracting a specific frequency component from an input signal. The extracting section extracts, from a pinion angle corresponding to a signal indicating a state of the steering system, a frequency component corresponding to a vibration of a steering system caused by stress applied to steerable wheels. The extracting section outputs an effective value of the extracted frequency component as a power spectrum to a second computing section. In the case that the power spectrum output from the extracting section is equal to or more than a predetermined threshold value, the microcomputer enhances a torque inertia compensation control so as to suppress vibration of the steering system caused by the stress. In other words, the microcomputer increases a torque inertia compensation amount corresponding to a compensation component based on a steering torque differential value.

Abstract: An omni directional mobility device made of a spherical device that is capable of omni directional movement. An omni directional vehicle including a vehicle and at least one omni directional mobility device made of a spherical device for enabling omni directional movement.

Abstract: A wheel arrangement for a four-wheeled vehicle is comprised of a front wheel, two side wheels and a rear wheel, whereas the rear wheel is connected to the frame of the vehicle by a supporting base enabling the same to be steered freely while having a ground-touching point of the same to be biased from the axis of the supporting base by a distance, and the front wheel can be specified as a driving wheel, a free-rolling steering wheel or just a steering wheel with respect to actual requirement, and the two side wheels can be specified as a driving wheels or free-rolling wheels while enabling the axis of the two side wheels to be aligned to a straight line without sharing a same shaft.

Abstract: A method and algorithm for determining a steering wheel angle of a vehicle steering mechanism upon power up of a vehicle using a single-turn steering wheel angle sensor by eliminating plausible steering wheel angles until one and only one steering wheel angle possibility remains.

Abstract: A drive axle assembly includes a drive axle configured to rotate with a driving torque, a first clutch pack assembly located at an end of the drive axle, and a second clutch pack assembly located at an opposite end of the drive axle. A first drive wheel assembly is operatively connected to the first clutch pack assembly, wherein the first clutch pack assembly is configured to convert the driving torque of the drive axle to a first driving torque of the first drive wheel. A second drive wheel assembly is operatively connected to the second clutch pack assembly, wherein the second clutch pack assembly is configured to convert the driving torque of the drive axle to a second driving torque of the second drive wheel.

Abstract: A control ON/OFF determination unit determines that oversteer control should be started in the case where a slip angle differential value is equal to or greater than a predetermined threshold value, the sign of the slip angle differential value is identical with the sign of a yaw rate, the sign of a steering wheel turning angle is identical with the sign of a steering wheel turning speed, and a vehicle speed is equal to or greater than a predetermined threshold value.

Abstract: A system, method, and computer program product for detecting and compensating for a traction steer event is provided. A first wheel speed of a first driven wheel is compared with a second wheel speed of a second driven wheel to determine whether a wheel slip condition has occurred. If a wheel slip condition is determined to have occurred, a current operating state of a vehicle is compared to an expected operating state of the vehicle to determine if a traction steer event has occurred. If a traction steer event is determined to have occurred, brake pressure is selectively applied to the first or second driven wheel to compensate for the traction steer event.

Abstract: The present invention relates to powered vehicles (e.g., lawn mowers) and, more particularly, to a velocity control system for use with such a vehicle. In one embodiment, the vehicle includes a power source such as an internal combustion engine and one or more drive control levers incrementally movable between a neutral position and a maximum velocity position. The system may also include a velocity adjustment member and associated mechanism that permits changing of a ratio between control lever movement and velocity of associated drive members or wheels. Thus, the system may limit a maximum ground velocity of the vehicle while the drive control lever(s) are positioned in the maximum velocity position and while an output level of the power source is maintained at a constant level.

Abstract: A vehicle steering control system includes a controller for determining control angles for actuators used for steering the vehicle based on at least a speed of the vehicle and a steering signal. The controller includes a unit, a module, and a block. The unit determines an equivalent steering angle of a steered wheel of an equivalent bicycle model according to the steering signal, and also determines a transverse coordinate of an instantaneous center of rotation of the vehicle. The module controls a steering behaviour of the vehicle to enable a longitudinal coordinate of the instantaneous center of rotation of the vehicle to be determined from the speed of the vehicle and a maximum transverse acceleration parameter of the vehicle. The block determines the control angles from the longitudinal coordinate and the transverse coordinate. The maximum transverse acceleration parameter of the vehicle is fixed for the vehicle or is variable based on conditions of operation of the vehicle.

Abstract: A steering system for a machine having at least one steerable traction device is disclosed. The steering system may have a steering actuator operatively connected to the at least one steerable traction device, and a travel speed sensor configured to generate a signal indicative of a travel speed of the machine. The steering mechanism may also have an operator input device having a deadzone. The deadzone may vary in response to the signal. The steering system may also have a controller in communication with the steering actuator, the operator input device, and the travel speed sensor. The controller may be configured to affect operation of the steering actuator in response to operation of the operator input device only when the operation of the operator input device deviates from the deadzone.

Abstract: An omni directional mobility device made of a spherical device that is capable of omni directional movement. An omni directional vehicle including a vehicle and at least one omni directional mobility device made of a spherical device for enabling omni directional movement.

Abstract: A steering system for a vehicle wherein the first and second axle shafts are driven by a power shaft powered by an engine. A differential gear is interposed between the power shaft and the first and second axle shafts. The steering system has a first hydraulic unit associated with the first axle shaft, a second hydraulic unit associated with the second axle shaft, a hydraulic circuit connecting an input of the first hydraulic unit to an output of the second hydraulic unit and an output of the first hydraulic unit to an input of said second hydraulic unit. A control unit is connected to the hydraulic circuit for varying a flow rate of hydraulic fluid in the first and second hydraulic units and an actuator associated with the control unit for controlling said control unit. The actuator is responsive to rotation of a steering wheel.

Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

Abstract: In a broad respect, vehicles that are capable of making a low- to zero-radius turn using the independent rotation of drive wheels and by turning the non-driving steerable structure or structures (such as wheels) with a steering input device (in some embodiments, the driving wheels also may be capable of being turned). This may be accomplished using a steering system, a speed control system and an integration device (together, a control system) that are configured to work together to provide correct steering in forward and reverse, and, in some embodiments, to reduce the speed of the outboard drive wheel of the vehicle when it enters an extreme turn under constant speed input. Different systems configured for use in such vehicles are included.

Abstract: There is provided an electric ground working vehicle including a left wheel and a right wheel, at least one caster, a working apparatus, an acceleration operating element for performing acceleration instructions, a turn operating element for performing turn instructions, and a control unit. The left wheel and the right wheel are independently driven by left and right electric motors respectively. The control unit controls a regenerative brake driving unit so that electric power is regenerated from the left and right electric motors to an electric power source unit when the acceleration operating element is not operated during traveling to regeneratively brake the left and right wheels.

Abstract: A steering assist apparatus for a vehicle includes an electric motor for steering assist. Rotation output of the electric motor is reduced in speed by a ball-screw mechanism and converted to rectilinear motion, which is transmitted to a rack bar. An electronic control unit determines a target current value in accordance with a steering torque detected by a steering torque sensor and a vehicle speed detected by a vehicle speed sensor. While using an actual current value of the electric motor detected by a current sensor as a feedback, the electronic control unit controls the current flowing through the electric motor to be equal to the target current value. The electronic control unit changes the feedback gain of the feedback control in accordance with a steering angle detected by a steering angle sensor, to thereby suppress abnormal noise generated at a steering mechanism, without deteriorating steering feel.

Abstract: A drive and steering equipment for a floor conveyor, with a drive unit which has a driving motor, a gear and a driving wheel and which is mounted in a bearing around vertical axis in a vehicle-fixed frame of the floor conveyor, a steering motor which pivots the drive unit around the vertical axis, and a control arm, an angle sensor and a steering control equipment, which adjusts a steering angle of the driving wheel through the steering motor in accordance to the signal of the angle sensor, characterised in that the control arm is rotatably mounted in a bearing coaxially or axially parallel to the drive unit via a bearing component part, the angle sensor is attached on the bearing component part and measures the relative angle between the drive unit and the bearing component part and the steering control equipment adjusts the drive unit via the steering motor such that the relative angle becomes zero.

Abstract: A first computing section stores a plurality of types of variable transmission ratio characteristics prescribed in correspondence with different modes in the form of maps. With reference to one of the maps corresponding to a selected one of the modes, the first computing section computes a first command angle by which the variable transmission ratio characteristics prescribed by the map are brought about. In this manner, variable gear ratio control is carried out. After a subsequent mode has been selected, the first computing section does not switch the maps which are referred to in the variable gear ratio control if the steering wheel turning angle ?s is greater than or equal to a predetermined threshold value ?.

Abstract: A transmission device (1) for a vehicle with a variator (3), a planetary gear unit (4) and a gearshift transmission unit (9). The variator (3) has a length which is greater than a width and a depth of the variator (3). When the variator (3) is installed in position in the vehicle, the length of the variator (3) is orientated at least approximately diagonally to the length of the vehicle.

Abstract: A moving base for robotic vacuum cleaner includes a base; a motor mounted in a motor chamber on the base to alternatively drive a drive shaft thereof to rotate clockwise or counterclockwise; a primary wheel fixed to and rotating along with the drive shaft of the motor; a clutch assembly connected to the primary wheel; an axle connected at an end to the clutch assembly, so as to be driven by the primary wheel to rotate when the drive shaft of the motor rotates clockwise, or to disengage from the driving by the primary wheel when the drive shaft of the motor rotates counterclockwise: and a secondary wheel connected to another end of the axle to rotate along with the axle. Since only one motor is needed to control a moving direction thereof, the robotic vacuum cleaner can have effectively reduced manufacturing cost and overall volume.

Abstract: An omni-directional vehicle (ODV) with a circular frame revolvably coupled to an appendage ring using a full circumferential coupling assembly. The appendage ring serves as a point of attachment for a push bar, trailer, tool, vehicle chassis, or other device. Two independent drive wheels located on an axis through the center of the frame are mounted at the same distance from a central vertical axis through the frame. Each wheel is powered independently and can rotate at variable speeds in either direction. The ODV is capable of movement in any direction by rotating the axis of the drive wheels to a position which is perpendicular to the desired direction of travel. The ODV can spin about its vertical axis such that the axis of the drive wheels can be oriented at any direction without changing the original footprint of the space that the frame occupies over the ground.

Abstract: A hydrostatic transmission mountable to a frame of a vehicle for driving a left side or right side drive wheel. A motor portion of the transmission can extend outwardly from the frame and a pump portion can extend upwardly from the frame. The motor portion can be configured to be at least partially received within a wheel for direct mounting of the wheel to an output shaft of the motor. The pump portion can include an input shaft extending from a lower side thereof for connection to a prime mover, such as an internal combustion engine.

Abstract: Methods and apparatus are provided for integrating a torque vectoring differential (TVD) and a stability control system in a motor vehicle. The integrated system is utilized for more efficiently correcting understeer and/or oversteer slides in a motor vehicle. In correcting these slides, the integrated system utilizes the TVD to rotate two wheels on opposite sides of the motor vehicle at different rates to create a yaw moment at the vehicle's center of gravity until the TVD reaches a saturation point and the understeer or oversteer slide is not corrected. Once the saturation point is reached without correcting the understeer or oversteer slide, the stability control system is employed to selectively apply one or more of the vehicle's brakes in a further effort to correct the understeer or oversteer slide.

Abstract: A powered omni-directional aircraft galley servicing vehicle that includes a circular frame and two drive wheels capable of independent powered forward and rearward rotation about a horizontal axis. The drive wheels are adapted to allow the vehicle to spin in place about a vertical axis which intersects the horizontal axis midway between the drive wheels and which is generally centered in the circular frame. A carrousel cabin is mounted to the frame on a lift such that it is capable of elevation to an aircraft galley. A partitioned lazy susan storage compartment rotates on the carrousel cabin to facilitate transfer of aircraft food and drink carts between an aircraft galley and the servicing vehicle.

Abstract: Embodiments of the present invention provide an omnidirectional ball-drive propulsion module. The propulsion module may have a drive component supported by a drive frame to engage a ball and a steering component to rotate the drive frame within a housing. Other embodiments may be described and claimed.

Abstract: A method and system for predicting a future position of a horizon time Th of an automotive vehicle. The method determines the position of the vehicle at time T0 using GPS and the speed, acceleration and angle of the steering wheel at time T0 from appropriate sensors on the vehicle. A nonlinear mathematical model utilizing these factors is then created while the position of the vehicle at time T0+Th is determined through numerical integration of the mathematical model using an adjustable step size Tstep. The step Tstep is modified adaptively in accordance with the accuracy requirements of the vehicle.

Abstract: A universal linkage assembly for a power machine is disclosed. The universal linkage is adaptable for different control configurations or patterns. For example, in embodiments disclosed, the linkage assembly includes a first control interface connectable to one of a first or second joysticks to operate one of a left or right drive motor or other function and a second control interface connectable to either the first or second joystick to operate the other of the left or right drive motor or other function with separate joysticks or the same joystick depending upon the control pattern desired.

Abstract: An efficient lubrication system for wet plate brake assemblies includes a flow control system that passes lubricant for cooling and lubrication through interdigitated wet brake plates when the plates are engaged. When the plates are disengaged, the wet plate assembly is controlled to limit its displacement by means of a pin and spring such that a gap is provided around the brake plates to provide a preferential path for lubricant, thus minimizing parasitic losses.

Abstract: A working vehicle comprises: a vehicle frame; a prime mover mounted on an upper surface of a first portion of the vehicle frame; a pair of left and right transaxles juxtaposed below the vehicle frame, the left and right transaxles having respective single axles so as to individually and reversibly rotatably driving left and right drive wheels; a working device disposed below the vehicle frame; an output shaft of the prime mover extended downward from the first portion of the vehicle frame; a traveling belt transmission disposed below the vehicle frame and extended from the output shaft to the pair of left and right transaxles; a working belt transmission disposed below the vehicle frame and extended from the output shaft to the working device; a counter shaft for the traveling belt transmission extended downward from a second portion of the vehicle frame; and a pair of upper and lower pulleys provided on the counter shaft, wherein a belt looped over the lower pulley is extended from the output shaft of the pr

Abstract: A device for controlling the driving dynamics of a vehicle senses at least one driving condition variable being representative of a driving condition and has a driving dynamics controller for determining an additional steering angle, according to which a steering motion can be carried out in addition to the steering motion commanded by an operator. The driving dynamics controller (100, 110) has at least two control units (340, 350), which are respectively associated with one driving condition range. It includes a determinator for determining a prevailing driving condition, in which the prevailing driving condition can be established based on the driving condition variable ({dot over (?)}, {dot over (?)}, ay), and in that it includes an activation logic (360) being in connection with the determination means and being adapted to enable a control unit (340, 350), which is associated with the established driving condition range.

Abstract: A braking and drive force control apparatus for a vehicle whose wheels are separately driven by electric motors. A controller calculates a drive force or a braking force to be applied to each wheel in accordance with the average sprung displacement and average sprung velocity of the vehicle body which are calculated based on sensed sprung acceleration. By adding the calculated drive force or braking force to the drive force at the time of running, at the time of bouncing of the vehicle body, a downwards force can be generated in the vehicle body which is rising, and an upwards force can be generated in the vehicle body which is descending. By applying an upwards or downwards force to each wheel so as to permit upwards and downwards vibration of the wheels, variations in the ground contact load can be suppressed.

Abstract: A method and system are described for calibrating speed controls for a vehicle having a pair of drive means on opposite sides of the vehicle driven by independent speed controls and where relative speed of the drive means is used to direct the vehicle. In one aspect, angular motion of the vehicle is detected using at least one of a gyroscopic angular sensor and a pair of accelerometers to determine a rate of yaw; a speed control output for controlling the relative speed is adjusted so that the rate of yaw is lower than a threshold when speed control inputs for controlling the relative speed are equal; and one or more speed control adjustment parameters are determined and stored for use during operation for controlling the relative speed of the drive means. A microcontroller may be used to receive sensor outputs (e.g. from the gyroscope and/or accelerometers) and speed control inputs and to determine the speed control adjustment.

Abstract: A vehicle includes a semi-active suspension including suspension dampers controllably adjustable in accordance with electronic stability control commands and ride and handling commands. Vehicle steering response states, turning direction states and vehicle dynamics states are binary coded in respective state variables and suspension control calibrations are binary coded in calibration words. Integrity and security of state variables and calibration words are ensured in efficient binary digit resource allocation schemes.

Abstract: A tractor has hydraulically driven wheels at a cab end and castor wheels at an engine end. It can be driven cab forward in a working mode with a header on the forward end. It is rotated to engine forward in the transport position for more stable higher speed travel. The driven wheels are driven by hydraulic motors each having their own drive pump the output of which is controlled by a cam plate. There is provided an automatic steering system having a guidance controller arranged to receive GPS position information and feed back signals and to generate output for controlling a hydraulic control valve for controlling flow in hydraulic fluid for a double acting hydraulic control cylinder arranged to actuate pivotal movement of the steering link member independently of the steering shaft.

Abstract: A drive and steering control system for an endless track vehicle such as a sugar cane harvester. A dual path hydrostatic drive has a pair of variable volume pumps connected for bidirectional flow to respective hydraulic motors driving a pair of endless tracks. A speed control lever and steering wheel mechanism each provide control inputs to a microprocessor which in turn controls the variable volume hydrostatic pumps to control vehicle velocity and turning in a way that matches control for wheeled vehicles. RPM sensors for the hydraulic motors provide a feedback signal that is used to compensate for equipment variation and to keep the vehicle on the course intended by the operator.

Abstract: Steering control apparatuses and methods for a vehicle are provided. A steering control apparatus can include a steering shaft drivingly linked to a pair of front wheels of a vehicle. A movable steering handle can also be provided and disposed about the steering shaft, with the steering handle being capable of selectively turning the pair of front wheels to direct the movement of the vehicle. A first and second brake clutch mechanism for engaging and disengaging first and second drive wheels, respectively, can be provided. First and second brake clutch control levers can selectively control the first and second brake clutch mechanism, respectively, to engage and disengage the first and second drive wheels. The steering handle can include a coupling base.

Abstract: A steering control apparatus is provided, including a steering wheel, steered wheels, a direction varying actuator to operate the steering control wheels, a steering reaction actuator to apply steering reaction torque to the steering wheel and steering controller. The steered wheels are mechanically disconnected from the steering wheel. The steering controller outputs control commands for controlling the direction varying actuator and the steering reaction actuator.

Abstract: The parking brakes at the drive wheels of a zero turning radius mower are automatically set when a pair of drive levers used for determining speed, steering and forward or reverse travel are placed in their neutral positions and swung outwardly to widespread, operator dismount positions. When the drive levers are widespread, switches associated with a control circuit are opened, allowing air cylinders to immediately exhaust pressurized air so that tension springs may actuate the brake assemblies to set the brakes. When the drive levers are returned to their operating modes and the ignition is turned on, the control switches are closed, energizing the control circuit to pressurize the air cylinders and release the brakes against the bias of the tension springs.

Abstract: A motor-driven power steering apparatus is provided with a self-aligning torque computing means for computing a self-aligning torque based on of a steering angle and a vehicle speed, a friction torque computing means for computing a friction torque in accordance with a steering angle change from a steering angular velocity, an apparent steering torque computing means for computing an apparent steering torque from the friction torque and a steering torque, and a steering torque feedback control means for driving and controlling an assist motor in such a manner that a difference between the self-aligning torque and the apparent steering torque becomes 0.

Abstract: A front wheel steering control device improves the handling and stability of a vehicle with respect to the steering wheel angles. The front wheel steering control device includes an input device for obtaining the steering wheel angle and the vehicle velocity, a first computing device for computing a yaw-rate for the vehicle which maintains the vehicle gravity center point sideslip angle at zero based on the steering wheel angle and the vehicle velocity that are obtained by the input device, a second computing device for computing a target front wheel actual steering angle for realizing the yaw-rate calculated by the first computing device, a control device for performing a steering control of the vehicle based on the target front wheel actual steering angle calculated by the second computing device. The ideal determination of the vehicle steering gear ratio and the derivative steering gain are relatively easy.

Abstract: A vehicle including a steer-by-wire type steering device controlling yaw moment of the vehicle in correspondence with an operation of a steering wheel mechanically separated from each of wheels. The wheels are configured such that a steered angle cannot be changed. The steering device has a power distribution device capable of changing a distribution rate of power applied to each of the wheels, and a braking force control device capable of separately controlling a braking force for each of the wheels. The steering device controls a yaw moment of the vehicle by separately controlling the power applied to each of the wheels and the braking force in each of the wheels.

Abstract: A device for reversing the steering movement of a steering-wheel shaft of a vehicle, it being possible to switch the reversal process only at a standstill of the vehicle in a center position of the steering device.

Abstract: A vehicle transmission having a pair of left and right HSTs for driving respective axles is applicable for a riding lawn mower. The transmission comprises a center casing incorporating a distributing drive train. In the fore-and-aft direction, an input shaft of the distributing drive train projects from the center casing toward a prime mover, and a PTO shaft for driving a mower unit projects from the center casing opposite to the prime mover. A pair of left and right deceleration drive train casings for incorporating respective deceleration gear trains and supporting the respective axles are disposed on respective left and right sides of the center casing. A pair of left and right stepless transmission mechanisms, each of which is drivingly interposed between the distributing drive train and each of the deceleration gear trains in the deceleration gear train casings, are mounted on left and right side portions of the center casing opposite to the prime mover in the fore-and-aft direction.