Steering control for trailing units of vehicle combinations

A computer-implemented method for determining steering angles for steered axles of a trailing unit of a vehicle combination, the method comprising:

• expressing, by processing circuitry of a computer system, a cost, Pslip,y, associated with lateral slip losses of the trailing unit as a function of a first steering angle, δfront, of a frontmost axle of the trailing unit and a second steering angle, δrear, of a rearmost axle of the trailing unit;
• and
• determining, by the processing circuitry, a value for the first steering angle, δfront, and a value for the second steering angle, δrear, such that the cost, Pslip,y, is below a threshold;
• wherein the first steering angle, δfront, and the second steering angle, δrear, enable the trailing unit to travel a curve of a given turning radius.