Method for determining a maximum speed limit for a reversing vehicle combination

A method for determining a maximum speed limit for a reversing vehicle combination comprising a towing vehicle and at least one towed trailer, where the towing vehicle is provided with an automatic reverse assistance function, comprising:

• determining a manoeuvre that is to be performed by the vehicle combination, where the manoeuvre consists of a predefined path determined in advance prior to initiating the manoeuvre such that the vehicle will avoid obstacles when reversing,
• simulating the complete manoeuvre in advance prior to initiating the manoeuvre by using a control algorithm and a state space model, thereby obtaining the steering behaviour of the vehicle combination during the manoeuvre,
• calculating the maximum speed limit for the vehicle combination during the manoeuvre by using at least one predefined limiting condition, using the simulation of the complete manoeuvre, and
• controlling a vehicle speed with a non-transitory controller in accordance with the calculated maximum speed during the manoeuvre.