# US 12,594,989 B2 · Compensation system for compensating trailer sway of a vehicle trailer of a towing vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,989 B2 - Document ID: US12594989B2 - Status: Granted - Kind: B2 - Application number: 18/580,917 - Filed: 2022-07-08 - Published: 2024-10-31 - Granted: 2026-04-07 - Earliest claimed: 2021-07-22 - Assignees: ZF Friedrichshafen AG - Applicants: ZF Friedrichshafen AG - Inventors: Dominik Vogt; Eric Leblanc - Web page: https://patentgrep.com/patent/US12594989B2 ## CPC - B62D 7/159: {characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract The present concept relates to a compensation system (105) for compensating a trailer sway (107) of a vehicle trailer (110) for a towing vehicle (100). The compensation system (105) comprises a read-in interface (115) and a compensation device (120). The read-in interface (115) is designed to read in a vehicle yaw-rate signal (125) that represents a vehicle yaw-rate and/or a vehicle yaw-rate change of the towing vehicle (100). The compensation device (120) is designed to determine a superposition angle (200) for superposition on a rear-axle steering angle (130) of the towing vehicle (100), when at least the vehicle yaw-rate and/or the vehicle yaw-rate change is within a defined yaw-rate fluctuation range, and/or to emit the superposition angle in the form of a superposition angle signal (135) to a rear-axle steering device (140) of the towing vehicle (100), in order to enable the compensation of the trailer sway (107). ## Claims ### Claim 1 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 a vehicle yaw-rate and/or 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. ### Claim 2 (depends on 1) The compensation system according to claim 1, further comprising a recognition device which is configured to at least one of: on a basis of the vehicle yaw-rate signal, to recognize at least one of the vehicle yaw-rate and the vehicle yaw-rate change within the defined vehicle yaw-rate fluctuation range as an unacceptable yaw-rate, and on a basis of at least one of the unacceptable yaw-rate and using at least one steering-wheel angle signal that represents at least one of a set steering-wheel angle of the towing vehicle, and a speed signal that represents a vehicle speed of the towing vehicle, and a steering-wheel angular speed signal that represents a steering-wheel angular speed of a steering-wheel angle of the towing vehicle, to generate an activation signal by means of an activation device for activating the compensation device. ### Claim 3 (depends on 1) The compensation system according to claim 1, wherein the compensation device is configured to be activated in response to an activation signal from a recognition device, in order to determine the superposition angle. ### Claim 4 (depends on 1) The compensation system according to claim 1, further comprising a limiting device, which is configured to limit at least one of the superposition angle determined by the compensation device and a total angle that is to have the superposition angle superposed thereon, in relation to at least one of an angle size and an angular speed of a steering orientation rate of a wheel. ### Claim 5 (depends on 1) The compensation system according to claim 1, wherein the compensation device comprises at least one of a filter system, a differentiation device (d/dt), 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 (d/dt) 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. ### Claim 6 (depends on 5) The compensation system according to claim 5, wherein the filter device comprises at least one of a high-pass filter and a low-pass filter. ### Claim 7 (depends on 5) The compensation system according to claim 5, wherein the controller comprises as part-regulators at least one of a P-control function, an I-control function and a D-regulation control, such that the controller is in the form of a PID controller. ### Claim 8 (depends on 1) The compensation system according to claim 1, wherein the recognition device comprises a condition-checking device and an activation device, the activation device is configured to emit an activation signal for activating the compensation device when at least one condition of a condition-checking device is fulfilled, the condition of the condition-checking device is fulfilled when at least one of the vehicle yaw-rate reaches or exceeds a maximum yaw-rate threshold value, and the vehicle yaw-rate change reaches or exceeds a maximum yaw-rate change threshold value, and a steering-wheel angular speed of the towing vehicle reaches or exceeds a maximum steering-wheel angular speed threshold value, and a difference between the vehicle yaw-rate and a determined target yaw-rate reaches or exceeds a maximum difference threshold value. ### Claim 9 (depends on 8) The compensation system according to claim 8, wherein the activation device is configured to emit the activation signal for a predetermined time period. ### Claim 10 (depends on 8) The compensation system according to claim 8, wherein the recognition device comprises a deactivation device, which is configured to emit a deactivation signal for deactivating the compensation device at least one of when the condition is not fulfilled and when a predetermined time period has lapsed after the output of the activation signal. ### Claim 11 (depends on 1) A rear-axle steering system with a rear-axle steering device and a compensation system according to claim 1. ### Claim 12 (depends on 1) A control unit for operating a compensation system according to claim 1, designed to carry out a method for compensating a trailer sway of a vehicle trailer of a towing vehicle including steps of: reading in of a vehicle yaw-rate signal which represents at least one of a vehicle yaw-rate and a vehicle yaw-rate change of the towing vehicle; and determining a superposition angle for superposition on a rear-axle steering angle of the towing vehicle, when the at least one of the vehicle yaw-rate and the vehicle yaw-rate change is within a defined vehicle yaw-rate fluctuation range, and output of the superposition angle in a form of a superposition angle signal to a rear-axle steering device of the towing vehicle in order to enable the compensation of the trailer sway. ### Claim 13 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. ### Claim 14 A method for compensating a trailer sway of a vehicle trailer of a towing vehicle, wherein the method comprises the steps of: reading in of a vehicle yaw-rate signal which represents at least one of a vehicle yaw-rate and a vehicle yaw-rate change of the towing vehicle, and determining 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 output of the superposition angle in a form of a superposition angle signal to a rear-axle steering device of the towing vehicle in order to enable the compensation of the trailer sway. ### Claim 15 (depends on 14) A computer program, which is configured to at least one of carry out and control the steps of the method according to claim 14. ### Claim 16 (depends on 15) A machine-readable storage medium, on which the computer program according to claim 15 is stored.