A cleaning vehicle (10), such as a self propelled road sweeper, has the suction nozzle (60) and brush gear (16) independently pivoted and steered in synchronism with the steered wheels (12, 14) of the vehicle. The relationship between the pivotal movement of the steered wheels (12, 14) and the nozzle (60) and brush gear (16) may be non-linear and different relationships may be chosen by selection of optional sweeping modes in a programmable control system (106) - all with a view to minimising unswept areas and improving control. Driver control of the basic position of the brush gear (16) is provided, including manual and automatic override for avoidance of obstructions.