Patent ID: 8862327

Claim:
A method for stabilizing a vehicle including a trailer drawn by the vehicle comprising the steps of: measuring, by a yaw rate sensor, a yaw rate of the vehicle as the vehicle is in motion; determining, by a processor, a reference yaw rate from a predetermined vehicle model; producing, by the processor, a difference value from the measured yaw rate and the reference yaw rate; weighting, by the processor, the difference value with a factor determined based on a derivative of the reference yaw rate to define a weighted difference value, wherein the factor decreases the difference value as the derivative of the reference yaw rate increases; producing, by the processor, a second signal to determine a side of intervention, a wheel of intervention, a steering angle direction of the vehicle, or any combination thereof, from a tendency to change of the weighted difference value; and applying, by an actuator controlled by the processor, a counteracting moment to the vehicle depending on an amplitude and the tendency to change of the weighted difference value.