Compensation system for compensating trailer sway of a vehicle trailer of a towing vehicle

A compensation system for a towing vehicle, for compensating a trailer sway of a vehicle trailer, wherein the compensation system comprises:

• a read-in interface, which is configured to read in a vehicle yaw-rate signal that represents one of a vehicle yaw-rate and a vehicle yaw-rate change of the towing vehicle, and
• a compensation device, which is configured to at least one of
• determine a superposition angle for superposition on a rear-axle steering angle of the towing vehicle, when at least one of the vehicle yaw-rate and the vehicle yaw-rate change is within a defined vehicle yaw-rate fluctuation range, and
• emit the superposition angle in the form of a superposition angle signal to a rear-axle steering device of the towing vehicle, to enable the compensation of the trailer sway,
• wherein the compensation device comprises at least one of a filter system, a differentiation device, a mixer and an unacceptable-yaw-rate recognition unit with a controller,
• wherein at least one of
• the filter system is configured, on a basis of the vehicle yaw-rate signal, to generate a filter signal that corresponds to a defined frequency range of the trailer sway, and
• the differentiation device is configured to differentiate the filter signal in order to obtain a differentiated signal, and
• the mixer is configured to mix the differentiated signal with a further signal or to amplify the differentiated signal, and
• the unacceptable-yaw-rate recognition unit is configured to interpret at least one of the vehicle yaw-rate and the vehicle yaw-rate change in a defined frequency range as an unacceptable yaw-rate, and
• the controller is configured to determine the superposition angle, in order to compensate the at least one of the vehicle yaw-rate and the vehicle yaw-rate change which has been interpreted as an unacceptable yaw-rate, and
• wherein the unacceptable-yaw-rate recognition unit is configured to operate the controller, on a basis of a stored target error value, in order to determine the superposition angle signal.