Patent Document ID: 20110257860
Application ID: 13170851
Patent Flag: 0

Claim One:
1. A method of controlling a vehicle that is pulling a trailer, wherein the tow point of the trailer is rearward of all vehicle axles, the method comprising: determining an angular position of the trailer relative to the vehicle using a trailer sensor during forward motion of the vehicle; generating an oscillation signal indicative of trailer swaying relative to the vehicle, said oscillation signal being generated as a function of the angular position; generating an initial weighted dynamic control signal for a vehicle dynamic control system in response to the oscillation signal; operating at least one vehicle dynamic system according to the dynamic control signal; thereafter, iteratively generating a penalty function for the weighted dynamic control signal as a function of the oscillation signal response wherein the penalty function retains the weighted dynamic control signal for a signal which mitigates trailer sway and reduces the weighted dynamic control signal for a signal which does not mitigate trailer sway.