METHOD AND APPARATUS FOR CONTROLLING A TRAILER-MOUNTED VEHICLE TO PREVENT REAR-END COLLISIONS

A method and a device control a trailer-mounted vehicle. The method for controlling a trailer-mounted vehicle may include: determining, 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, determining 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; determining a compensation amount of the Z-axis momentum based on target motion information of the vehicle and the Z-axis momentum; and controlling 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 Z-axis momentum.