Method of operating a vehicle convoy, vehicle and system for coupling the movements of at least two vehicles

A system for coupling the movements of at least two vehicles comprising a leader vehicle and at least one follower vehicle, each vehicle comprising a control unit and an external communication unit, the control unit being configured to operate the vehicle according to one or more drive actions comprising at least one of steering, accelerating and braking the vehicle, the external communication unit being connected to the control unit and configured to communicate with an external communication unit of at least one other of the vehicles, wherein the control unit of at least the leader vehicle is configured to generate control commands for the at least one follower vehicle and to transmit the control commands to the at least one follower vehicle by means of the external communication unit, each control command comprising a current timestamp with a time, a drive action to be performed by the at least one follower vehicle and a spatial and/or temporal condition to be fulfilled prior to carrying out the drive action, the drive action comprising at least one of steering the at least one follower vehicle, changing the speed of the at least one follower vehicle and setting the speed of the at least one follower vehicle, and wherein the control unit of the at least one follower vehicle is configured to operate the follower vehicle according to the drive actions embedded in the control commands.