Detection of yaw instabilities in vehicle combinations

A method for detecting a yaw instability in a vehicle combination comprising a tractor unit and at least one trailing unit, the method comprising:

• determining a plurality of probability values each representing the probability of a yaw instability for the vehicle combination, wherein each probability value is based on a reference value and a current value of a respective parameter of a plurality of parameters;
• applying a respective weight to each probability value;
• and
• determining a combined probability value representing the probability of a yaw instability occurring in the vehicle combination based on the weighted probability values;
• wherein the plurality of parameters comprises each of a yaw rate of the tractor unit and/or the at least one trailing unit, an articulation angle and/or an articulation angular rate of consecutive units, a longitudinal wheel slip of the tractor unit and/or the at least one trailing unit, a sideslip angle of the tractor unit and/or the at least one trailing unit, and an understeering gradient of the tractor unit and/or the at least one trailing unit.