Means of Controlling a Vehicle

A vehicle, preferably an autonomous vehicle comprises a drive control 204 capable of receiving an input from an input device 202 associated with an actuator 216. The actuators may be linkages 218 operated to manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Control of the vehicle is based partly on a safety scheme. The scheme comprises a first communications link, such as a network connection, between a controller 226 and the said actuators: a second communication link 408, such as a current loop, interlinks said actuators. The vehicle is controlled partly based on a safety signal transmitted via either or both communication links.