Brake steering method and apparatus

A method for brake steering a tracked vehicle, said method comprising:

• identifying a failure of a primary steering system;
• controlling a circuit selector actuator to trigger a predefined operational mode of a hydraulic brake system;
• calculating a track speed differential adapted to produced a desired turn of the tracked vehicle;
• and
• controlling a plurality of brake apply actuators to apply a left brake and/or a right brake by an amount calculated to produce said track speed differential.

A method for correcting a brake system failure of a tracked vehicle comprising:

• identifying a failure of a first brake apply actuator in the brake system;
• commanding a predefined operational mode;
• controlling a circuit selector actuator to actuate a valve assembly such that the failed first brake apply actuator is functionally disconnected from the brake system and a second brake apply actuator is accessible to the brake system to replace the failed first brake apply actuator;
• and
• controlling the second brake apply actuator to selectively transfer hydraulic fluid and thereby evenly apply a left brake and a right brake of the tracked vehicle.