Method of controlling a cruise control system for avoiding swing out

A computer implemented method of controlling a cruise control system of a vehicle comprising a tractor unit and at least one trailer unit pivotably coupled to each other, wherein the tractor unit comprises an actuator configured to apply a torque on at least one wheel of the tractor unit during propulsion, and to generate electric power during braking, the cruise control system comprising processing circuitry operable to control operation of the actuator, the method comprising:

• controlling, by the processing circuitry, the actuator to operate the vehicle at a demanded cruise control vehicle speed;
• determining, by the processing circuitry, a swing out condition of the at least one trailer unit, in which swing out condition a parameter indicative of a relative rotation between the tractor unit and the at least one trailer unit exceeds a predetermined threshold limit;
• and
• controlling, by the processing circuitry, the actuator to apply a propulsion torque on the at least one wheel of the tractor unit for deviating from the demanded cruise control vehicle speed in response to the determined swing out condition of the at least one trailer unit.