Device and method for determining a jackknifing angle of an articulated lorry

The device has wheel speed sensors (RS1,RS2) for measuring the speed of left semi-trailer wheel (AL) and a right semi-trailer wheel (AR) respectively, which are arranged on the axle (AA) of semi-trailer (SA). A control unit (SE) is provided for computing the bending angle (KW) between semi-trailer and towing vehicle (ZF), based on the measured speed of left and right wheels of semi-trailer. Independent claims are included for the following: (1) method for determining bending angle of tractor-trailer; (2) tilting trailer; and (3) machine-readable medium storing computer program for determining bending angle of tractor-trailer.