A vehicle comprises a speed-sensing device outputting a signal indicating a velocity of the vehicle, a brake system outputting a signal for indicating when the brake system is being commanded to a brake torque providing state, and a trailer brake controller coupled to the speed-sensing device and the brake system. The trailer brake controller utilizes the signal of the speed-sensing device to determine when the vehicle is in a zero-velocity state and utilizes the signal of the brake system to determine when the brake system is being commanded to the brake torque providing state. The trailer brake controller transitions a brake-actuating output signal thereof from a speed-dependent zero-velocity output signal value to a trailer hold zero-velocity output signal value greater than the speed-dependent zero-velocity output signal value when it is determined that the brake system is in the brake torque providing state while the vehicle is in the zero-velocity state.