Method for laterally stabilizing agricultural vehicle combination

An agricultural vehicle combination including an agricultural tractor and a trailer attached thereto, comprising:

• a sensor array assigned to the agricultural tractor, and
• a control unit configured to receive signals from the sensor array, to determine an actual value of a yaw rate variable characterizing a yaw rate of the agricultural tractor, and to compare the actual value of the yaw rate variable with a target value specified for the yaw rate variable for identifying an oversteer or understeer tendency of the agricultural tractor,
• wherein the specification of the target value by the control unit takes place so as to correspond to a yaw behavior to be expected due to the steering angle and the traveling speed of the agricultural tractor,
• wherein the control unit, upon identification of an oversteer tendency of the agricultural tractor arising in trailer operation, concludes that this is a forced articulation angle increase caused by thrust, or upon identification of an understeer tendency of the agricultural tractor arising in trailer operation, concludes that this is a retarded articulation angle reduction caused by thrust, and at least partially compensates for this by driver-independent intervention in wheel braking devices of the trailer.

An agricultural vehicle combination including an agricultural tractor and a trailer attached thereto, comprising:

• a sensor array assigned to the agricultural tractor, and
• a control unit configured to receive signals from the sensor array, to determine an actual value of a yaw rate variable characterizing a yaw rate of the agricultural tractor, and to compare the actual value of the yaw rate variable with a target value specified for the yaw rate variable for identifying an oversteer or understeer tendency of the agricultural tractor,
• wherein the specification of the target value by the control unit takes place so as to correspond to a yaw behavior to be expected due to the steering angle and the traveling speed of the agricultural tractor,
• wherein the control unit, upon identification of an understeer tendency of the agricultural tractor arising in trailer operation, is configured to conclude that this is a retarded articulation angle reduction caused by thrust, and at least partially compensates for this by driver-independent intervention in wheel braking devices of the trailer.