Abstract: The disclosure relates to a method for estimating a maximum safe articulation angle (?lim) to be used in reversing of a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: S1) providing a preset maximum safe articulation angle (?lim) for the towing vehicle (10) or the vehicle combination (1), S2) receiving a signal being indicative of an articulation angle (?) of the vehicle combination (1) during forward driving of the vehicle combination (1), and S3) updating the maximum safe articulation angle (?lim) when the articulation angle (?) of the vehicle combination (1) during forward driving is larger than the preset maximum safe articulation angle (?lim). The disclosure also relates to a method for reversing a vehicle combination (10), to a control unit (11), to a towing vehicle (10), to a computer program and to a computer readable medium.

Abstract: The disclosure relates to a method for reversing a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: (S10) reversing the vehicle combination, (S20) determining whether a jack-knifing condition (J) is about to occur by comparing a predicted future estimate of the articulation angle (?) with a maximum safe articulation angle (?lim), wherein the maximum safe articulation angle (?lim) is estimated according to the first aspect of the invention, and when it is determined that the jack-knifing condition (J) is about to occur, perform at least one of the following steps: (S30) issue a warning signal, and (S40) initiate a braking action for the vehicle combination, wherein the predicted future estimate of the articulation angle (?) is based on an estimated driver reaction time for initiating a braking action.

Abstract: The disclosure relates to a method for estimating a maximum safe articulation angle (?lim) to be used in reversing of a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: S1) providing a preset maximum safe articulation angle (?lim) for the towing vehicle (10) or the vehicle combination (1), S2) receiving a signal being indicative of an articulation angle (?) of the vehicle combination (1) during forward driving of the vehicle combination (1), and S3) updating the maximum safe articulation angle (Vim) when the articulation angle (?) of the vehicle combination (1) during forward driving is larger than the preset maximum safe articulation angle (?lim). The disclosure also relates to a method for reversing a vehicle combination (10), to a control unit (11), to a towing vehicle (10), to a computer program and to a computer readable medium.

Abstract: The disclosure relates to a method for reversing a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: (S10) reversing the vehicle combination, (S20) determining whether a jack-knifing condition (J) is about to occur by comparing a predicted future estimate of the articulation angle (?) with a maximum safe articulation angle (?lim), wherein the maximum safe articulation angle (?lim) is estimated according to the first aspect of the invention, and when it is determined that the jack-knifing condition (J) is about to occur, perform at least one of the following steps: (S30) issue a warning signal, and (S40) initiate a braking action for the vehicle combination, wherein the predicted future estimate of the articulation angle (?) is based on an estimated driver reaction time for initiating a braking action.