HOLISTIC CONTROL FOR STABILIZING VEHICLE-TRAILER SWAYING
First Claim
1. A trailer sway intervention system, comprising:
- a trailer including a plurality of wheels, each wheel having a brake; and
a vehicle towing the trailer, the vehicle includinga plurality of sensors configured to sense operating characteristics of the vehicle,a controller configured toreceive the sensed operating characteristics from the plurality of sensors,determine an error, the error being a difference between an expected yaw rate and a sensed yaw rate,asymmetrically apply braking forces to one or more trailer wheels based on the difference between the expected yaw rate and the sensed yaw rate, andsymmetrically apply braking forces to the trailer wheels when the absolute value of the difference between the expected yaw rate and the sensed yaw rate is declining.
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Accused Products
Abstract
A trailer sway intervention system. The trailer sway intervention system includes a trailer having a plurality of wheels, each wheel having a brake, and a vehicle towing the trailer. The vehicle includes a plurality of sensors configured to sense operating characteristics of the vehicle, and a controller. The controller receives the sensed operating characteristics from the sensors, determines an error based on a difference between an expected yaw rate and a sensed yaw rate, asymmetrically applies braking forces to one or more trailer wheels based on the difference, and symmetrically applies braking forces to the trailer wheels when the absolute value of the difference between the expected yaw rate and the sensed yaw rate is declining.
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Citations
15 Claims
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1. A trailer sway intervention system, comprising:
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a trailer including a plurality of wheels, each wheel having a brake; and a vehicle towing the trailer, the vehicle including a plurality of sensors configured to sense operating characteristics of the vehicle, a controller configured to receive the sensed operating characteristics from the plurality of sensors, determine an error, the error being a difference between an expected yaw rate and a sensed yaw rate, asymmetrically apply braking forces to one or more trailer wheels based on the difference between the expected yaw rate and the sensed yaw rate, and symmetrically apply braking forces to the trailer wheels when the absolute value of the difference between the expected yaw rate and the sensed yaw rate is declining. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of reducing trailer oscillation, comprising:
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calculating a target yaw rate for a vehicle; sensing an actual yaw rate for the vehicle; determining an error value based on a difference between the target yaw rate and sensed yaw rate; asymmetrically applying braking forces to one or more wheels of a trailer based on the error; and symmetrically applying braking forces to a plurality of the one or more wheels of the trailer when the absolute value of a magnitude of the error is declining. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification