US 12,485,861 B2
Trailer sway detection and mitigation using a camera mirror system
Thomas J. Hayes, Lakewood, OH (US); and William R. Plow, Avon, OH (US)
Assigned to Bendix Commercial Vehicle Systems LLC, Avon, OH (US)
Filed by Bendix Commercial Vehicle Systems LLC, Avon, OH (US)
Filed on Aug. 11, 2023, as Appl. No. 18/232,925.
Prior Publication US 2025/0050849 A1, Feb. 13, 2025
Int. Cl. B60T 8/1755 (2006.01); B60T 8/17 (2006.01); B60T 8/171 (2006.01); G06T 7/73 (2017.01); H04N 23/695 (2023.01)
CPC B60T 8/17551 (2013.01) [B60T 8/1708 (2013.01); B60T 8/171 (2013.01); G06T 7/73 (2017.01); H04N 23/695 (2023.01); B60T 2230/06 (2013.01); G06T 2207/30252 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A vehicle controller comprising:
one or more processors;
a non-transitory computer-readable medium; and
program instructions stored on the non-transitory computer-readable medium that, when executed by the one or more processors, cause the one or more processors to:
monitor images captured by at least one image capture device to detect sway of a trailer being towed by a tractor; and
in response to detecting sway of the trailer, cause a braking system to apply a brake to attempt to reduce the sway of the trailer;
wherein the program instructions further cause the one or more processors to:
determine a position of a trailing edge of the trailer over a period of time; and
determine an angle between the tractor and the position of the trailing edge of the trailer over the period of time;
wherein the sway of the trailer is detected in response to the angle changing without a corresponding change in a steering angle measurement.