A Brake Control Algorithm for Emergency Stops (Which may Involve Steering) of Tow-Vehicle/Trailer Combinations

This paper presents a control algorithm for controlling the brakes of a tow-vehicle/trailer combination during emergency braking. The control algorithm determines wheel slip levels for the wheels of the tow-vehicle and trailer. These wheel slip levels are chosen to provide the maximum braking force while preserving the stability of the tow-vehicle and trailer and providing the necessary directional control. The algorithm is able to compensate for uneven traction among the wheels and to increase the cornering capability of the tires when the driver attempts to steer. This paper outlines the structure of the control algorithm and presents simulation results to show its effectiveness. The simulation results study a situation where the driver of a mid-size passenger car towing a utility trailer attempts to avoid an obstacle while braking on a surface with checkered traction properties.