Examples of techniques for controlling a vehicle based on trailer sway are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes estimating, by a processing device, an estimated articulation angle between a vehicle and a trailer coupled to the vehicle. The method further includes calculating, by the processing device, an expected articulation angle between the vehicle and the trailer. The method further includes comparing, by the processing device, the estimated articulation angle and the expected articulation angle to determine whether the trailer is experiencing trailer sway. The method further includes, responsive to determining that the trailer is experiencing sway, controlling, by the processing device, the vehicle to reduce the trailer sway.

In a method and apparatus for stabilizing running of a wobbling trailer towed by a vehicle, a tandem of trailer and vehicle is braked by a brake device activated by a control device. The braking process is triggered, when an amplitude of the oscillation of the trailer exceeds a predetermined value. As a result, the tandem is decelerated to a speed at which the amplitude of the oscillation of the trailer falls below a predetermined value. The tandem is decelerated more intensely in the case of a wobbling trailer and when travelling at a first travelling speed than in the case of a wobbling trailer and when travelling at a second travelling speed which is lower than the first travelling speed, and the tandem is braked in presence of the first driving speed during exceeding a lower value of the amplitude than in the presence of the second driving speed.

An electro-mechanical park lock actuator includes a shaft and a circuit board. The shaft is arranged for connecting to a transmission park pawl. The circuit board includes a first non-contact inductive position sensor integrated circuit, a first trace electrically connected to the first non-contact inductive position sensor integrated circuit for determining an angular position of the shaft, and an electrical connector for connecting the circuit board to an external master controller. In some example embodiments, the electro-mechanical park lock actuator includes an electric motor drivingly connected to the shaft, and a transmission arranged in a torque path between the electric motor and the shaft.

Methods and systems are provided for a vehicle towing a trailer. In an exemplary embodiment, one or more sensors onboard a vehicle are configured to provide sensor data, and a processor onboard the vehicle is configured to at least facilitate: monitoring a trailer sway of the trailer using the sensor data, based on one or more parameters of the sensor data representing the trailer sway and application of a band-pass filter to the one or more parameters; and mitigating the trailer sway, via instructions provided by the processor to one or more braking systems of the vehicle, the trailer, or both, when it is determined that the trailer sway of the trailer is sufficient to warrant mitigation based on the one or more parameters of the sensor data representing the trailer sway and the application of the band-pass filter to the one or more parameters.

A method for decelerating a trailer vehicle in a vehicle combination having a tractor vehicle and at least one trailer vehicle includes determining, by a wheel module at a respective wheel of the trailer vehicle, acceleration measurement values of the respective wheel, generating, by the wheel module, an information signal taking into account the acceleration measurement values of the respective wheel, and transmitting the information signal in a wireless fashion. The method further includes evaluating the acceleration measurement values and monitoring the acceleration measurement values with respect to a locking tendency of the respective wheel, and when an information signal of the wheel module is received, adjusting, by an electronic brake control unit, the trailer brake pressure taking into account the information signal.

The present disclosure provides an emergency braking system, an emergency braking method and a semitrailer, capable of improving the braking effect of the vehicle, thereby achieving improved safety for the vehicle. The system includes: a sensor component configured to collect sensed information on an environment where a semitrailer is located; and a braking controller configured to determine whether there is a risk of collision for the semitrailer based on the sensed information, and if so, calculate a maximum adhesive force that can be provided by a road surface the semitrailer is currently on, determine a first braking pressure corresponding to each wheel based on the maximum adhesive force and axle load information, and transmit to a braking system a first braking instruction carrying the first braking pressure for each wheel.

A system and method for controlling wheel brakes on a trailer in a tractor-trailer are provided. Upon receiving a command to apply a trailer wheel brake, the system determines a speed of the tractor-trailer responsive to a speed signal generated by a vehicle speed sensor. The system also estimates a threshold speed based on a level of friction between the tractor-trailer and a road surface on which the tractor-trailer is travelling. The system then generates a control signal to control delivery of fluid pressure to the trailer wheel brake. The control signal causes delivery of a first fluid pressure to the trailer wheel brake when the speed meets a predetermined condition relative to the threshold speed and a second fluid pressure, less than the first fluid pressure, when the speed does not meet the predetermined condition.

A transportation safety apparatus for a vehicle combination, the vehicle combination including a leading vehicle that pulls a trailing vehicle, the apparatus comprising: a plurality of force sensors for measuring pressure on opposite sides of the trailing vehicle; a wheel direction sensor for measuring aim angle at which tires on the leading vehicle aim said leading vehicle; at least one of: a) a plurality of position sensors for measuring angle difference between the leading vehicle and the trailing vehicle; and b) an angle sensor for measuring centerline angle between a leading centerline of the leading vehicle and a trailing centerline of the trailing vehicle; and a processing unit for signaling jack knife risk based on force measured by one of the force sensors, the wheel direction sensor, and at least one of the angle difference and the centerline angle.

Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.

A digital autonomous hardware based FPGA (Field Programmable Gate Array) device and method for preventing the initial onset of trailer oscillations and swaying (Snaking) movements and subsequent control thereof. The device being a detection and control method for any wheeled trailer which is detachable from the towing vehicle. The system uses a Kalman Filter to processes digital data from a number of wireless IMUs (Inertial Measurement Units) located on the trailer and towing vehicle and then subsequently digitally controls the application and monitoring of simultaneous braking to the trailer while accelerating the towing vehicle in a safe manner in an attempt to quickly alleviate and stop all oscillations and swaying (Snaking) movements. The system includes a number of other ancillary safety related features.