Patent ID: 11919497
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 14:
15. The system of claim 10, wherein the program instructions are configured to cause the at least one processor to:
check if at least one of following trailer state conditions are true based on measurements from a sensor system of the trailer and the vehicle:
velocity of the vehicle is non-zero;
driver steering input is about constant;
yaw rate of the trailer is about constant; and
hitch articulation angle is about constant; and

if all vehicle-trailer state conditions are true:
determine a current yaw rate of the trailer, a current measured left wheel speed from the left wheel speed sensor and a current measured right wheel speed from the right wheel speed sensor under the vehicle-trailer state conditions;
determine the target yaw rate based on the current yaw rate;
receive a new measured left wheel speed from the left wheel speed sensor;
receive a new measured right wheel speed from the right wheel speed sensor; and
determine the left braking torque based on a difference between the target left wheel speed and the new measured left wheel speed; and
determine the right braking torque based on a difference between the target right wheel speed and the new measured right wheel speed.