The journey starts in the Netherlands, where Terberg builds the drive-by-wire terminal tractors. At a dedicated project site nearby, Terberg integrates the Embotech autonomous driving system and installs the charge port cover of the Rocsys hands-free charging system. This allows the vehicles to connect and charge automatically, without manual intervention. Once deployed in Rotterdam, the ATTs are tested in a live terminal environment. Here, every element comes together: vehicle behaviour, system interaction, operational flows, safety logic and performance under real conditions.
This project highlights that successful automation goes beyond the vehicle itself. It depends on reliable and predictable system behaviour across changing terminal operations. Short iterations, realistic scenarios and continuous evaluation support a step-by-step approach towards scalable and sustainable terminal operations.
The Drive by Wire (DBW) platform on the YT Series tractors receives commands from the automation kit or tele-operation kit. These commands are converted to actions in the same way the driver would do this in a manually operated vehicle.
Terberg is partnering with suppliers to integrate the autonomous system allowing the ATTs (Automated Terminal Tractors) to share traffic lanes with conventional trucks. This includes cameras, radars and laser-based sensors for navigation, collision avoidance and pedestrian detection. A central computer on the vehicle processes all sensor information in real time, takes decisions, and verifies the route.
ECOSYSTEM
DRIVE BY WIRE
The Terberg "drive by wire" vehicle can be controlled via a CAN-bus interface that can be used for further automation or development. In the vehicle, an automation layer is integrated with relevant safety levels in accordance with ISO 13849-1/2. The "drive by wire" controls the operational systems of the vehicle, such as the drivetrain, braking system, steering system, coupling plate, lift table, and lighting.
ELECTRONIC DRIVER
The second layer is the “Electronic driver” that uses the drive by wire layer and is able to “drive” the vehicle, meaning that the vehicle is able to maneuver, in a controlled manner along a preprogrammed path. This functional layer, developed by our autonomous partners, gives the flexibility to connect the vehicle in a customer automation program cable of controlling vehicles.
TERMINAL OPERATING SYSTEM (TOS)
The 3rd layer is the system from which the AutoTUG™ gets its instructions, the central logistics system that also manages the fleet of AutoTUGs.
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