Device for the steering assistance of a vehicle combination

A device for the steering assistance of a vehicle combination having a towing vehicle and an attached implement which swivels on the towing vehicle at a rear coupling point, wherein the implement has wheels that are arranged on opposite sides and that can be acted on by the control of corresponding individual wheel drives independent of one another and with a driving torque comprising:

• an electronic control unit configured to apply a yawing moment to the implement by the asymmetrical control of the individual wheel drives in such a way that a transverse force exerted on the towing vehicle via the rear coupling point builds up in the sense of the attainment of a pre-specified steering behavior of the vehicle combination,
• wherein proceeding from a sensor-determined real value of a steering angle magnitude, which gives a wheel steering angle, assumed on steerable wheels of the towing vehicle, and as a function of a sensor-determined real value of a traveling speed magnitude, which gives a forward movement speed of the towing vehicle, the electronic control unit calculates a theoretical value of a yaw rate magnitude, which gives a temporal yaw angle change around the vertical axis of the towing vehicle, and
• wherein the application of the yawing moment takes place by the asymmetrical control of the individual wheel drives with the goal of adapting the real value of the yaw rate magnitude to the calculated theoretical value.