Train of vehicles and steering control system for such a train

A motorised road train comprising a lead vehicle and at least one hitched follower vehicle, as well as a CAN communication link linking the vehicles of the train, each of the vehicles comprising a rear axle, a front steering axle, an electric steering control system comprising a steering rack, an actuator acting on the angular orientation of the front steering axle and a controller driving the actuator, each of the vehicles also comprising front hitching members and rear hitching members so that the follower vehicle is hitched to the lead vehicle or to another follower vehicle, the controllers of the vehicles being configured to generate angular orientation instructions of the front steering axle of the or of each follower vehicle,

• wherein each of the vehicles is equipped both with an orientation sensor for determining the angle of the wheels of the front steering axle and with an angular hitching sensor for determining the yaw angular orientation of the hitch relative to the chassis of the vehicle, the controller of the or of each follower vehicle delivering an optimal angle instruction of the wheels and specific to the actuator of the follower vehicle in question, said optimal angle instruction being defined by using a kinematic control law that is dependent on the angle of the wheels of the steering axle of the preceding vehicle and on the yaw angular orientation of the hitch relative to the chassis of the follower vehicle in question, so as to obtain a single-track train.