Patent ID: 8359146

Claim:
A method of assessing whether a vehicle equipped with a plurality of wheel brakes is about to overturn, the vehicle including a trailer equipped with a single-channel brake pressure modulator arranged to control actuation of all the trailer brakes, comprising the acts of: determining a lateral acceleration of the vehicle; determining a rotational wheel speed of the vehicle wheels; when the lateral acceleration exceeds a predetermined threshold, conducting a rotational wheel speed change test, wherein the test includes if the vehicle is not being braked, applying a brake pressure to the vehicle brakes with the single-channel brake pressure modulator, or if the vehicle is being braked, lowering a brake pressure being applied by the single-channel brake pressure modulator; after applying or lowering the brake pressure, monitoring the wheel speed behavior of the vehicle wheels on an inside side of the vehicle, said inside side being the side facing away from the lateral acceleration direction; restoring brake pressure to the brake pressure existing before the rotational wheel speed test; and determining based on monitored wheel speed behavior following the restoring brake pressure step whether the vehicle is about to overturn.