Target-steering angle determining method for multi-part vehicle combination used as e.g. tractor-trailer combination, involves determining target-steering angle based on momentary driving speed of combination and effective length

摘要

The method involves determining a target-steering angle over a path (4) and a steering angle (13) momentarily lying at a tractive unit (1) and a trailer (3) by a control device based on momentary driving speed of a multi-part vehicle combination and an effective length (6) of the tractive unit and the trailer. The path is predefined over a trajectory. A target-steering angle of the tractive unit is determined based on a difference between a function of a target-steering angle of the trailer and a function of deviation of the steering angle of the trailer from the target-steering angle. An independent claim is also included for a control device for determining a target-steering angle of a multi-part vehicle combination.