Patent ID: 7832521

Claim:
A vehicle comprising an axle assembly, the axle assembly comprising a differential gear having an input for connection to a drive shaft, and a first wheel hub to support a first wheel and a second wheel hub to support a second wheel, the first wheel hub and the second wheel hub being drivingly connected to the differential gear, wherein the first wheel hub is drivingly connected to the differential gear via a reverser mechanism, the reverser mechanism having a first operating mode where the first wheel hub is driven in the same direction as the second wheel hub and a second operating mode where the first wheel hub is driven in the opposite direction to the second wheel hub; an engine drivingly connected to a transmission, the transmission being connected to the differential gear; a first wheel and a second wheel connected to the first wheel hub and the second wheel hub, respectively; a first steering actuator operable to move the first wheel; a second steering actuator operable to move the second wheel; a second axle pivotally supporting a third wheel and a fourth wheel; a third steering actuator operable to move the third wheel; a fourth steering actuator operable to move the fourth wheel; and a steering controller operable to receive a spin steer request, control the first, second, third and fourth steering actuators to place the wheels in a spin steer configuration, and place the reverser mechanism in the second operating mode.