Arthur Krebs proposed placing the front axle of a car at a positive caster angle in his UK patent of 1896, entitled improvements in mechanically propelled vehicles.
In it he stated it was intended "To ensure stability of direction by means of a special arrangement of fore-carriage, that is to say, to re-establish automatically the parallelism of the two axles of the vehicle when there is no tendency to keep them in any other direction, or after a temporary effort has caused them to diverge from said parallelism. [...] The axle of the fore-carriage is situated a suitable distance behind the projection of the axis of the pivot-pin in order to ensure the stability of direction above referred to."
https://en.wikipedia.org/wiki/Caster_angle
In it he stated it was intended "To ensure stability of direction by means of a special arrangement of fore-carriage, that is to say, to re-establish automatically the parallelism of the two axles of the vehicle when there is no tendency to keep them in any other direction, or after a temporary effort has caused them to diverge from said parallelism. [...] The axle of the fore-carriage is situated a suitable distance behind the projection of the axis of the pivot-pin in order to ensure the stability of direction above referred to."
https://en.wikipedia.org/wiki/Caster_angle
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