Trailer sway detection and braking distribution using a camera mirror system

A method comprising:

• performing in a vehicle comprising a tractor, a plurality of trailers towed by the tractor, and a side-view camera:
• causing the side-view camera to capture images of sides of the plurality of trailers;
• monitoring images captured by the side-view camera to detect sway, wherein sway is detected in response to an angle of at least one of the plurality of trailers changing without a corresponding change in a steering angle measurement from a steering angle sensor;
• calculating a relative weight of each of the plurality of trailers based on the detected sway;
• determining braking force to apply to each of the plurality of trailers based on the estimated relative weight of each of the plurality of trailers;
• and
• causing braking systems of the plurality of trailers to apply the determined braking force to each of the plurality of trailers.

A tractor comprising:

• a side-view camera;
• means for causing the side-view camera to capture images of sides of a plurality of trailers being towed by the tractor;
• means for monitoring the images captured by the side-view camera to detect sway, wherein sway is detected in response to an angle of at least one of the plurality of trailers changing without a corresponding change in a steering angle measurement from a steering angle sensor;
• means for estimating a relative weight of each of the plurality of trailers based on the detected sway;
• means for determining braking force to apply to each of the plurality of trailers based on the estimated relative weight of each of the plurality of trailers;
• and
• means for sending an electronic signal to a braking system of each of the plurality of trailers to apply the determined braking force to each of the plurality of trailers.