Abstract: A tram has a lead vehicle and one or more trailing vehicles coupled to it. Each vehicle has sets of front and rear wheels, both sets being steerable independently of the other. A manual controller provides signals to a processor in the lead vehicle, which in turn steers the front and rear wheels along a desired path. A processor on the first trailing vehicle controls front and rear servos to steer its wheels according to the path of the rear wheels of the leading vehicle. The second trailing vehicle has a processor that steers its front and rear wheels according to information provided by the first leading vehicle. Steering sensors on the vehicles sense distance to a steering rail while the vehicles are on a guideway and provide signals to the processors for automatic steering. While on a guideway, the tram uses power collectors to transfer power from the guideway.

Abstract: A guideway system and method of operating a guideway is included comprising a guideway with entrance and exit ramps and vehicles having both a smooth, servo-based primary steering systems based upon proximity sensing of the side of the guideway and a backup mechanical steering system. The backup steering system is selectively engaged and disengaged based on location with respect to the entrance and exit ramps and provides vehicle wheel steering in the event of a failure of the primary servo steering system. The backup steering comprises one or more vertical members affixed to the guideway and one or more steering elements engageable with the member(s). The elements may be pivoted into and out of backup steering engagement.