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

Claim 7:
8. A trailer for towing by a vehicle, the trailer comprising:
a left wheel;
a right wheel;
an axle;
the left and right wheels on opposed ends of the axle;
a left brake device coupled to the left wheel;
a right brake device coupled to the right wheel;
a left wheel speed sensor;
a right wheel speed sensor; and
at least one processor configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to:
receive differential braking commands from a control system of the vehicle; and
command, based on the differential braking commands, application of a left braking torque by the left brake device and a right braking torque by the right brake device to assist maneuvering of the trailer along a target path,
wherein the left braking torque is based on a difference between a target left wheel speed and a measured left wheel speed from the left wheel speed sensor, and wherein the right braking torque is based on a difference between a target right wheel speed and a measured right wheel speed from the right wheel speed sensor, ad wherein the target left wheel speed and the target right wheel speed are based on a target yaw rate that is based on the driver command.