| 摘要 |
<p>The method is for guiding a road train, wherein according to a movement direction vector of a vehicle unit describing the movement direction of a reference point (L), a wheel steering angle is determined as a nominal setpoint for a steering actuator of a following vehicle unit (2a,2b), wherein the reference point can be varied and fixed corresponding to a rule depending upon driving situation. The reference point is determined by applying coordinate information of a GPS receiver. Independent claims are included for the following: (1) a computer programme suitable for implementing the method for guiding a road train; (2) a control device for controlling a multi-axle steering system; and (3) a multi-axle steering system, wherein the determining of the nominal wheel steering angle is carried out according to the method.</p> |
