Self-propelled milling machine, as well as method for controlling a self-propelled milling machine

A self-propelled milling machine for milling a ground surface, comprising:

• a machine frame with a longitudinal axis;
• a height-adjustable working drum;
• a slewable transport conveyor arranged in front of or behind the working drum as seen in a direction of travel of the milling machine, with a discharge end from which worked-off milling material is dischargeable onto a point of impingement on a loading surface of a transport vehicle,
• wherein the transport conveyor is laterally slewable to a slewing angle, about at least a first slewing axis extending essentially orthogonal to the machine frame;
• a controller configured, during an initialization process, to specify a command variable within a coordinate system, the coordinate system being stored during the initialization process with its origin at a starting point associated with the machine;
• wherein the controller is further configured during a working process, wherein the coordinate system is stationary, to automatically control the slewing angle corresponding to detected changes in position and/or orientation of the machine and relative to the command variable.