Abstract: A vehicle control device controls a driving device in such a manner that driving torque coincides with normal torque. The vehicle control device starts a traction control for controlling the driving device in such a manner that the driving torque coincides with suppressed torque which is smaller than the normal torque, when a predetermined traction control start condition is satisfied. The vehicle control device determines that the driver is in a non-grasp state, when an operation amount has changed to satisfy a condition in an initial determination time period. The vehicle control device starts, at an acceleration time point, an operation priority control for controlling the driving device in such a manner that the driving torque coincides with acceleration priority torque which is larger than the suppressed torque and smaller than the normal torque, if the control device had not determined that the driver was in the non-grasp state.

Abstract: Provided are: a device and a method for controlling vehicle movement, with which it is possible to suppress causing uncomfortableness to vehicle occupants and causing unstable behavior during turning by automatic travel control; and a device and a method for generating a target course. In a vehicle capable of automatically controlling lateral acceleration occurring in the vehicle, the present invention controls the acceleration occurring in the vehicle such that jerk, which is the change over time of acceleration, becomes the greatest in a region where the lateral acceleration that occurs upon entering a curve is equal to or less than half the acceleration during normal turning, and the jerk decreases as the acceleration increases.

Abstract: The invention relates to a lane change assistance system in a vehicle (21), wherein the lane change assistance system has a sensor arrangement for detecting the current surrounding area of the vehicle in each case and is designed to generate a warning signal and/or steering intervention when an imminent lane change by the vehicle is identified, depending on a second vehicle (25) being detected by the sensor arrangement in the vehicle's surrounding area. In this case the lane change assistance system is designed to suppress generation of the warning signal and/or the steering intervention based on map data (15), particularly when the change of lane by the vehicle is to a newly opening lane (23) of a multiple lane road (22) which is branching off (e.g. of a corresponding motorway exit) and the second vehicle is located in another lane (24) of the road (22) which is branching off.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control acceleration, deceleration, and steering of the vehicle independently of an operation of an occupant of the vehicle on the basis of a recognition result of the recognizer. When it is recognized that the vehicle passes through a complex intersection where two or more intersections are combined by turning left or right at the complex intersection, the recognizer excludes at least a traffic signal closest to the vehicle among traffic signals present at positions capable of being visually recognized from the vehicle in a traveling direction of the vehicle from traffic signals whose states are required to be taken into account by the vehicle in a state in which the vehicle has entered the complex intersection.

Abstract: An action prediction method for predicting an action of another vehicle around a host vehicle, acquires information on conditions of a road surface around the other vehicle, and predicts the action of the other vehicle in accordance with the information on the conditions of the road surface.

Abstract: A traffic controller includes a controller configured to reject a request and issue a speed requirement based on a priority to cause a speed of a one of a plurality of vehicles to be within a speed band before entering a road. The rejection is responsive to receiving the speed request from the one approaching the road having priority less than a predetermined threshold and outside of a speed band and a predetermined acceleration band of vehicles on the road.

Abstract: A method for controlling a differential braking arrangement of a vehicle, said vehicle comprising at least one auxiliary braking arrangement and at least one differential braking arrangement, said auxiliary braking arrangement and said differential braking arrangement being connected to a pair of propelled wheels of said vehicle, wherein the differential braking arrangement is arranged to control a relative rotational speed between the pair of propelled wheels, wherein the method comprises the steps of receiving a signal indicative of a downhill slope for a road ahead of said vehicle; determining an inclination of said downhill slope; determining a braking power needed for the at least one auxiliary braking arrangement for preventing the vehicle speed of the vehicle from exceeding a predetermined speed limit when driving at the downhill slope; and engaging the at least one differential braking arrangement for reducing the relative rotational speed between the propelled wheels if the determined braking power o

Abstract: A control device of a vehicle with a stepped automatic transmission has: a gradient acquiring part; a driving force calculating part; a future change estimating part; and a shift control part. The shift control part prohibits change of the gear stage when the speed of change of the speed or acceleration of the vehicle in the future if the maximum driving force applied, is within a reference range of speed of change where the occupants would not notice a change in speed or acceleration, and permits change of the gear stage when the speed of change of the speed or acceleration of the vehicle in the future if the maximum driving force applied, is outside the reference range of speed of change.

Abstract: Systems and methods for selecting among different driving modes for autonomous driving of a vehicle may: generate output signals; determine the vehicle proximity information that indicates whether one or more vehicles are within the particular proximity of the vehicle; determine the internal passenger presence information that indicates whether one or more passengers are present in the vehicle; select a first driving mode or a second driving mode based on one or more determinations; and control the vehicle autonomously in accordance with the selection of either the first driving mode or the second driving mode.

Abstract: An automatic stop-start preference retaining circuit for selectively disabling an automatic stop-start circuit in a vehicle is disclosed. The automatic stop-start preference retaining circuit is controlled by an on-vehicle switch that selectively deactivates and activates the automatic stop-start circuit in the vehicle. The automatic stop-start preference retaining circuit includes an energy storage device that obtains power from the automatic stop-start circuit in the vehicle. The preference retaining circuit also includes an electronic control module that is configured to receive power from the energy storage device when power is unavailable from the automatic stop-start circuit of the vehicle. The electronic control module is configured in series in a path between the on-vehicle switch and a wiring harness of the vehicle that includes the automatic stop-start circuit. The control module selectively overrides the on-vehicle switch to deactivate or activate the automatic stop-start circuit.

Abstract: A method can include: detecting a distance between the host vehicle and a preceding vehicle and a current speed of the preceding vehicle; calculating a relative speed of the host vehicle with respect to the preceding vehicle based on a current speed of the host vehicle and the detected current speed of the preceding vehicle; determining whether to activate an engine idle sailing (EIS) function, in which a driving gear of the host vehicle shifts to neutral, based on the relative speed of the host vehicle with respect to the preceding vehicle and the detected distance between the host vehicle and the preceding vehicle; and in response to determining to activate the EIS function of the host vehicle, controlling operation of the host vehicle so as to activate the EIS function of the host vehicle, causing the driving gear of the host vehicle to shift to neutral.

Abstract: A braking control system and a braking control method for an environmental-friendly vehicle may forcibly discharge a part of the current charge amount of a battery when it is determined that the current charge amount of the battery reaches a maximum charge amount state by regenerative braking to exclude a regenerative braking prohibition condition according to the maximum charge amount state of the battery. The braking of the vehicle is thereby always performed by a sum of the regenerative braking amount and the hydraulic braking amount to reduce a braking load concentrated on a disk of a hydraulic braking brake.

Abstract: Aspects of the present invention provide devices that receive data indicative of speed, position and direction of a first vehicle and nearby vehicles on a road, determine a passing power of the first vehicle according to characteristics of the road and operating characteristics of the first vehicle, determine safe passing by the first vehicle of one of the nearby vehicles on the road according to the received data and the determined passing power of the first vehicle, and govern the first vehicle according to the determined safe passing.

Abstract: A method for operating a motor vehicle driver assistance apparatus, includes: capturing sensor data of a surrounding area of the motor vehicle in which at least one target vehicle is situated, the target vehicle being in front of and in the same lane as the motor vehicle; capturing at least one driver characteristic describing a driver of the motor vehicle; assigning the driver to a predetermined driver class based on the driver characteristic; reading in driver-class-specific overtaking information, describing an overtaking tendency of the driver, based on the driver class associated with the overtaking information; outputting a control signal of the driver assistance apparatus, which rates an overtaking maneuver of the motor vehicle in regard to the target vehicle, from a plurality of reference control signals having associated overtaking information based on the overtaking information and the sensor data; and outputting the control signal by the driver assistance apparatus.

Abstract: A method for operating a drivetrain of a motor vehicle including at least one drive motor, a transmission device and at least one wheel which can be driven by the drive motor via the transmission device, in which respective actuations of respective shifting elements of the transmission device are brought about in order to influence thereby a transfer of a torque provided by the drive motor from the drive motor to the wheel via the transmission device, wherein—the torque provided by the drive motor is set as a function of a transfer function which indicates a factor by which the torque is to be multiplied, in order to calculate a wheel torque resulting from the torque and from the transfer and acting on the wheel.

Abstract: A road damage control system of the present invention includes a load detector that detects a load applied to a road from a vehicle on the road, and a server including a hardware processor that calculates road damage from the load obtained by the load detector, accumulates the calculated road damage to calculate accumulated road damage, estimates a road life from an allowable total road damage amount and the accumulated road damage, and outputs information about traffic regulation to be performed on the road to extend the estimated road life.

Abstract: The electric vehicle control method is a control method that includes the motor that gives braking force or driving force to a vehicle in accordance with an accelerator operation, by which the braking force is controlled when an accelerator operation amount is smaller than a given value and the driving force is controlled when the accelerator operation amount is the given value or larger. The electric vehicle control device estimates disturbance torque that acts on the motor as resistance component relating to a gradient and executes correction by which the braking force or the driving force is increased or decreased so as to cancel the resistance component in accordance with a disturbance torque estimated value Td. Then, on a downhill road at a given gradient or more, a correction amount of the braking force or the driving force is reduced.

Abstract: Methods, systems, and devices for a cross-linked distributed ledger. The cross-referencing system includes multiple computing devices including a first computing device and a second computing device. A computing device of the multiple computing devices is configured to maintain a first cross-linked distributed ledger. The first cross-linked distributed ledger has a first set of multiple linked records that are associated with a first identifier. The first computing device includes a processor. The processor is configured to link or provide a first record associated with the first identifier to the first cross-linked distributed ledger. The first record has a first reference to a second record. The second record is within a second set of multiple cross-linked records of a second cross-linked distributed ledger.

Abstract: A seat determining apparatus includes a travel route determining unit configured to determine a travel route of a vehicle such that the travel route runs by way of a scheduled boarding point and scheduled alighting point of each of a plurality of users scheduled to ride the vehicle, the scheduled boarding point being a point at which the user is scheduled to get on the vehicle, the scheduled alighting point being a point at which the user is scheduled to get off the vehicle; a boarding and alighting order determining unit configured to determine alighting order, in which the users get off the vehicle, based on the travel route and the scheduled alighting point of each of the users; and a seat determining unit configured to determine a seat according to the alighting order for each of the users when each of the users rides the vehicle.

Abstract: A driving assistance method is for an automated driving vehicle that is capable of switching between manual driving by a driver and automated driving, learns a driving characteristic of the driver during the manual driving, and reflects a learning result to a driving characteristic under control of the automated driving, and the driving assistance method includes: detecting a driving characteristic of an area in which the automated driving vehicle is traveling; and adjusting the learning result according to the detected driving characteristic of the area and executing the control of the automated driving based on the adjusted learning result.

Abstract: A method for managing a powertrain (3) of a motor vehicle (1) comprises the following steps: (a) determining a predictive rolling resistance coefficient (Crr) for at least one tyre (10) of the motor vehicle (1); and (b) adapting the operation of the powertrain (3) according to the predictive rolling resistance coefficient (Crr) in order notably to optimize the energy consumption of the motor vehicle (1).

Abstract: Disclosed are a power assisted towing mode control method and system for ecofriendly vehicles. The power assisted towing mode control method is executed to control a power assisted towing mode between a first vehicle as a towing vehicle and a second vehicle as a towed vehicle, and includes determining, by the first vehicle, whether or not an accelerator pedal amount exceeds a threshold value, calculating, by the first vehicle, driver request torque based on the accelerator pedal amount, calculating, by the first vehicle, motor allowable torque based on the driver request torque, receiving, by the second vehicle, the motor allowable torque and calculating motor dischargeable torque based on the motor allowable torque, and performing, by the second vehicle, motor torque output based on the motor dischargeable torque.

Abstract: Methods, computer program products, and systems are presented. The method computer program products, and systems can include, for instance: obtaining sensor data from sensors disposed to output data indicative of vehicle driver performance of a first vehicle, the first vehicle having for a first trip an associated first driver user who drives the first vehicle during the first trip; processing the sensor data to return error event flags that indicate errors of the first driver user when driving the first vehicle during the first trip; recording for respective event flags of the error event flags values of a first driving environment classification parameter and values of a second driving environment classification parameter; and predicting a driving performance of the first driver user for a second trip, the second trip being a proposed trip to occur after the first trip.

Abstract: An operating method is for a redundant sensor arrangement of a vehicle system. The sensor arrangement includes two controllers and multiple sensors. Individual sensors of the multiple sensors, in a normal mode of the vehicle system, are each coupled to a controller embodied as a primary controller and, in an emergency mode of the vehicle system, are each coupled to a controller embodied as a secondary controller and are supplied with power. The corresponding controller coupled to the sensors receives and evaluates signals from the individual sensors. Initialization of the sensor arrangement involves an operating voltage being applied to both controllers and a check on the sensor arrangement being performed. The sensors, in a first checking step, are coupled to a first controller and are checked by the latter and decoupled from a second controller, and the first controller subsequently hands over the sensors to the second controller.

Abstract: A control system for a motor vehicle, having a first control device for controlling a first function of the motor vehicle and a second control device for controlling a second function of the motor vehicle. The first and second control devices are each in a signal transmission connection with at least one sensor and/or at least one actuator. To ensure the proper execution of functions of a motor vehicle controlled by control devices even with a faulty control device with the least possible effort, it is provided that in dependence on the receipt of an error signal from the first control device or the second control device, the respective error-free control device is configured such that the function of the motor vehicle that corresponds to the faulty control device is controlled by the error-free control device.

Abstract: Disclosed are an apparatus, a system and a method for managing drowsy driving. The apparatus for managing drowsy driving includes a communication device that transmits vehicle information to a server and receives a drowsiness probability of a driver from the server, and a controller that generates a command when the drowsiness probability of the driver exceeds a reference value and determines whether the driver is in a drowsy state based on input information of the driver responding to the command.

Abstract: A method includes: determining, by a computer device, conditions along a predefined driving route of a vehicle; determining, by the computer device and based on the conditions, risk factors of segments of the driving route; determining, by the computer device, an optimal one of the segments for switching the vehicle from autonomous driving mode to manual driving mode; and outputting, by the computer device, data defining the determined optimal one of the segments.

Abstract: A driving assistance apparatus according to an embodiment includes a determination unit configured to determine whether or not there is a probability that a vehicle is deviated from a traveling possible range based on map information, position information of the vehicle, and information regarding an advancing direction of the vehicle, and a control information output unit configured to output first control information regarding at least one of warning a driver of the vehicle, restricting drive force of the vehicle regardless of an operation of the driver, and applying braking force to the vehicle regardless of an operation of the driver, in a case where the determination unit determines that there is a probability that the vehicle is deviated from the traveling possible range.

Abstract: An approach is provided for presenting a feedforward cue in a user interface before an upcoming vehicle event occurs. The approach involves retrieving map data covering an upcoming area in which a vehicle is to travel. The approach also involves extracting a feedforward cue from the map data, wherein the feedforward cue preemptively indicates an upcoming vehicle event that can have an effect on an experience that a user has while engaged in a non-driving activity in the vehicle. The approach further involves providing data for presenting the feedforward cue in a user interface before the upcoming vehicle event occurs.

Abstract: An onboard apparatus includes an image capturing unit configured to capture a periphery of a vehicle, a display unit configured to display an image captured by the image capturing unit, and a notification unit configured to notify an occupant of information. The notification unit is configured to notify the occupant that the vehicle is in a startable state on the condition that, at least, display of the captured image has been started by the display unit.

Abstract: An information processing system includes an acquirer configured to acquire a boarding request, a deriver configured to derive, when an action schedule of an automatic driving vehicle includes a standby state based on a boarding request acquired by the acquirer, a usage charge of the automatic driving vehicle reflecting a cost generated in a traveling state in which the automatic driving vehicle carries a user and travels and a cost generated in the standby state, and an output configured to output information including the usage charge derived by the deriver.

Abstract: A propulsion system is composed of vehicles with four wheels having one of the axles connected to a pylon attached to the propulsion plate. The vehicles move over rails of elevated guideways supported by pillars. The top of the elevated guideways has longitudinal slots for allowing passage of pylons of propulsion plates. The elevated guideway is dual and has two power propulsion units for propulsion operation in a push and/or pull mode, one for each elevated guideway. The power propulsion units are installed inside the machine rooms under the pavement of the sob passenger stations supported on pillars. The power propulsion units are connected to the elevated guideways by means of connection ducts. Secondary propulsion ducts are disposed in parallel with the propulsion duct and integrated with its respective flow direction valve which allows that the air flow generated by the power propulsion unit is discharged in the propulsion duct in two distinct positions.

Abstract: A railway vehicle coach, including a roof, a box mounted on the roof, a least one primary box support, inserted between the box and the roof, each primary support being arranged in a peripheral part of the box and being suitable for bearing the weight of the box, the coach including at least one secondary support inserted between the box and the roof, each secondary support being arranged in a central part of the box and being able to bear the weight of the box in case of collapse of the roof in the location of a primary support.

Abstract: A running gear for a low floor rail vehicle includes a frame, a single pair of independent left and right wheels, and a single pair of left and right rotation bearings attached to the frame that allow the left and right wheels to independently spin about a left and right spin axis, respectively. The running gear further includes a secondary suspension resting on the frame for supporting a vehicle body of the rail vehicle and lateral stop means fixed to the frame for laterally guiding the vehicle body of the rail vehicle. The lateral stop means includes a left and a right contact face facing a left and a right, respectively, transverse direction parallel to the transverse reference axis. The left and right contact faces are located between the left and right wheels.

Abstract: Joint arrangement (10) for a truck comprising at least one deformation element (12.1, 12.2), wherein the deformation element comprises at least one rod (14.1, 14.2) and a connection plate (16.1, 16.2), wherein the connection plate is arranged on the rod, wherein the rod has at least one stop element. The connection plate can be displaced on the rod in the longitudinal direction of said rod, wherein a deformation work can be performed on the deformation element in the event of a displacement of the connection plate on the rod; and wherein a displacement path of the connection plate on the rod is limited by the stop element (24.1, 24.2). Further a method for energy conversion is proposed.

Abstract: A system for analyzing a railroad track comprises a transport device, a camera coupled to the transport device, an electronic display device, a memory device, and one or more processors. The camera is disposed adjacent to a rail of the railroad track and generates image data reproducible as one or more images of at least a portion of a surface of the rail. The processors can produce an image of the rail surface, which includes a plurality of elongated portions. The image is analyzed to identify any defects that exist within each elongated portion of the rail surface. The processors determine a value of a metric for each elongated portion of the rail surface. The metric is associated with the identified defects. The electronic display device displays a graph indicative of the metric for each elongated portion, the image of the rail surface, or both.

Abstract: A train location measurement system includes a ground device that generates a signal that contains location measuring data, a base stations that each transmit the signal to the train, an onboard station that measures a first received signal strength of a first signal received from a first base station located in a travel direction of the train, and generates, using the location measuring data, first error information indicating an error occurrence status upon reception of the first signal, an onboard station that measures a second received signal strength of a second signal received from a second base station located in a direction opposite the travel direction of the train, and generates, using the location measuring data, second error information indicating an error occurrence status upon reception of the second signal, and an onboard device that measures the location of the train.

Abstract: A method and an apparatus transmit data between a first communications network of a first track-guided vehicle unit and a second communications network of a second track-guided vehicle unit. In order to ensure flexible data transmission between the first and second communications networks, the data between the first and second vehicle units are transmitted via a terrestrial data device.

Abstract: A cart comprises a body structure and at least one wheel connecting structure. The body structure comprises a support shaft, a first frame member and a second frame member. Both the first and second frame members are disposed on the support shaft. The wheel connecting structure is disposed on one end of the support shaft and comprises a driving assembly, a rotating assembly, a linking assembly, and an energy assembly. The driving assembly is connected to the first frame member. One end of the rotating assembly is disposed in correspondence with the one end of the support shaft, and the other end of the rotating assembly is mounted on a wheel member. The linking assembly is disposed between the driving assembly and the rotating assembly. The linking assembly comprises a pushing unit, which is pivotally connected to the rotating assembly. The energy assembly is connected to the linking assembly.

Abstract: An adjustable rack trolley has a base seat, a top seat, a stand, and a supporting rod. The base seat has multiple sets of latching grooves arranged at spaced intervals along the first direction. The stand is connected with the base seat and the top seat, and has a first frame and a second frame pivotally connected to each other. An end of the first frame is pivotally connected to the first end of the base seat, and an end of the second frame is selectively engaged in a set of the latching grooves. An end of the top seat is pivotally connected to the top of the stand. One end of the supporting rod is pivotally connected to the top seat, and the other end of the supporting rod is detachably connected with the stand.

Abstract: The invention relates to a stackable transport trolley (10), in particular a stackable shopping trolley (10), comprising a chassis (12) and a basket (14); the chassis (12) includes a support frame (16) and a frame of rods (18) which is arranged on the support frame (16), the frame of rods (18) supporting the basket (14).

Abstract: A steering device according to an aspect of the present invention includes an outer shaft, an inner shaft, an outer column, and an inner column. The inner shaft has a sliding portion configured to be capable of being inserted into the outer shaft, and a bearing-mounting portion that is connected to the sliding portion in an axial direction thereof and is configured not to be capable of being inserted into the outer shaft. In the bearing-mounting portion, rear bearings are disposed with an interval therebetween in the axial direction.

Abstract: A steering column assembly includes a mounting bracket which is securely fixed to a car cross beam or the like; a support bracket located below the mounting bracket, the two brackets being connected together during normal operation by at least one frangible connector a telescopic shroud having a first portion that surrounds a steering shaft, the first portion being fixed to the support bracket, and an energy absorbing device. The energy absorbing devices further includes: a wire which extends along an underside of the mounting bracket and is secured at opposing ends to respective anchor portions of the mounting bracket, and a fixing part of the support bracket having an opening through which the wire passes, whereby in a crash the frangible connector is broken to permit the support bracket to move relative to the mounting bracket whereupon the wire is pulled through the opening in the fixing part.

Abstract: An apparatus for use in turning steerable vehicle wheels includes a first steering member which is linearly movable relative to the vehicle to effect turning movement of the steerable vehicle wheels. A pinion is disposed in meshing engagement with a rack portion of the first steering member. A steering column is connected with the pinion and with a vehicle steering wheel such that rotation of the steering wheel results in linear movement of the first steering member. An electrically powered steering unit is connected to a second steering member extending generally parallel to the first steering member for providing steering assist to the steerable wheels.

Abstract: An apparatus for connecting an electric machine and a worm for an electric power steering system, including an electric machine, an electric machine shaft connected to the electric machine, and a worm. An end of the electric machine shaft is provided with a first mounting flange, and an end of the worm is provided with a second mounting flange. The apparatus includes at least one disk between the first mounting flange of the electric machine shaft and the second mounting flange of the worm. The apparatus for connecting an electric machine and a worm for an electric power steering system provided in the present invention is structurally simple, and at the same time transfers electric machine torque with high efficiency, and can effectively compensate for radial deviation and axial deviation between the electric machine shaft and a worm shaft.

Abstract: An apparatus and a method for controlling a vehicle steering system, which are capable of improving a sense of unity between driver's driving input and vehicle motion and the stability of the vehicle by estimating a side slip angle and performing return control, may include an assist torque determination module for determining assist torque for steering assist, a return control module for determining steering return torque for returning the steering wheel to a neutral position, a side slip angle estimation module for estimating a side slip angle, a side slip control module for determining a return control gain value in a response to the estimated side slip angle, a correction unit of correcting the determined steering return torque in a response to the return control gain value, and a torque compensation unit of determining final assist torque by compensating the determined assist torque with the corrected steering return torque.

Abstract: Provided is an electric assisted power steering apparatus having a structure able to disconnect a worm shaft from any malfunctioning motor of motors connected to opposite end portions of the worm shaft, thereby preventing the worm shaft from rotating heavily or failing to rotate. Even in the case in which the worm shaft is disconnected from the malfunctioning motor, a target rotation speed of the properly-operating motor is increased to prevent sudden changes in auxiliary torque occurring on a steering shaft, thereby promoting the safety of a driver. Torque required for the worm shaft is distributed to the two motors, thereby increasing the rotation speeds of the motors and reducing the size and fabrication costs of the motors.

Abstract: A vehicle of a steer-by-wire type includes: a turning device that turns a wheel by actuating a turning motor; and a reaction torque generation device that applies a reaction torque to a steering wheel by actuating a reaction motor. A control device for the vehicle is configured to control turning of the wheel by controlling the turning motor and to control the reaction torque by controlling the reaction motor, according to rotation of the steering wheel. When a power output limiting condition is satisfied, the control device executes not only power output limiting processing that limits a power output of the turning motor but also reaction torque increasing processing. In the reaction torque increasing processing, the control device controls the reaction torque to make the steering wheel harder to rotate as compared with a case where the power output limiting processing is not executed.

Abstract: For a vehicle having left and right powered front wheels and a rear axle having left and right casters, with at least one of the casters being steerable, the steering angle of the steerable caster is controlled when the vehicle is stationary and executing a direction orientation maneuver prior to transitioning to a turn. The rotations of the steerable caster and at least one of the left and right wheels may be autonomously adjusted using a controller. The controller rotates the steerable caster about a caster axis in a direction consistent with the direction of the turn through a steering angle proportion to the magnitude of the turn, and rotates at least one of the left and right wheels to turn the vehicle in a direction consistent with the direction of the turn and in proportion to the magnitude of the turn.

Abstract: A terminal tractor includes four independently steerable wheels, each with their own dedicated drive motor and each with their own dedicated steering device. The terminal tractor includes a controller operable to provide input commands to the drive motors and to the steering devices to operate the terminal tractor. The terminal tractor also includes a fifth wheel coupling which includes a lifting mechanism capable of raising and lowering the fifth wheel coupling a in single vertical direction.