Patent attributes
An arrangement for improving stability of a vehicle combination including a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes at least one actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each includes an arrangement for determining yaw rate for determining the yaw rate of the vehicle and the at least one towed vehicle, where the arrangement further includes a vehicle combination model adapted for determining a desired delay value between the yaw rate of the towing vehicle and the yaw rate of the at least one towed vehicle, where the arrangement is adapted to stabilize the at least one towed vehicle by using the determined yaw rate of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired yaw rate for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined yaw rate of the at least one towed vehicle corresponds to the desired yaw rate of the at least one towed vehicle. The yaw rate may be estimated or measured. The advantage of the invention is that the stability of a vehicle combination can be improved, which in turn improves the road safety.
