Trailer Sway Control via Asymmetric Braking

The patent applies asymmetric braking forces to the trailer wheels based on the yaw rate error. When the trailer oscillates, the controller determines the difference between expected and actual yaw rates, then applies different braking forces to left and right wheels to counteract the oscillation. This asymmetric approach directly addresses the trailer sway by creating a corrective moment that opposes the oscillatory motion, thereby improving trailer stability while managing the complexity through algorithmic control rather than mechanical complexity.

The controller implements periodic modulation of symmetric braking forces based on the declining yaw rate error magnitude. When the error magnitude is decreasing, symmetric braking is applied in a periodic manner rather than continuously, allowing the trailer to naturally dampen oscillations during certain phases while providing corrective forces during others. This periodic application reduces overall energy consumption compared to continuous symmetric braking while maintaining effective oscillation damping.

The yaw rate sensor serves multiple functions within the stability control system. It not only detects trailer oscillations by monitoring yaw rate variations but also provides critical feedback for calculating the error signal that drives both asymmetric and symmetric braking control. This multi-functional use of the sensor improves oscillation detection precision without requiring additional dedicated sensors, thereby avoiding increased system complexity while achieving high measurement precision for oscillation detection.