Method and apparatus for controlling a trailer-mounted vehicle to prevent rear-end collisions

An apparatus for controlling a trailer-mounted vehicle, the apparatus comprising:

• a processor configured to
• determine, based on current motion information of a vehicle, a force acting due to a gradient of a trailer mounted to the vehicle and an inertial force of the trailer,
• determine Z-axis momentum of the vehicle caused by the trailer based on the force acting due to the gradient of the trailer, the inertial force of the trailer, and the current motion information of the vehicle,
• determine a compensation amount of the Z-axis momentum based on target motion information of the vehicle and the Z-axis momentum, and
• control at least one of a drive source and a brake source so that a lopsided acceleration or a lopsided deceleration is output from a corresponding wheel for implementing the compensation amount of the Z-axis momentum;
• a drive source driven by the processor;
• and
• a brake source driven by the processor.