A method of vehicle control, in which a global target trajectory is tracked by successively calculating an optimum local trajectory in 4D output space to approach the global trajectory and observe vehicle performance limits and surrounding obstacle clearan...

A controlled differential device comprises a pair of epicyclical gear trains each comprising a sun gear (44,45), planet carrier (54,55) and annulus (48,49). The sun gears are rotated in mutually opposite senses by a motor (41), the planet carriers are inte...