METHOD OF CONTROLLING A VEHICLE COMBINATION

A method of controlling a vehicle combination, the vehicle combination comprising a first vehicle unit, a second vehicle unit and an articulated coupling connecting the first and second vehicle units to each other, the method comprising determining a coupling force parameter of the articulated coupling based on a combination of motion related parameters obtained from the first and second vehicle units; selecting an operational envelope for the vehicle combination based on the coupling force parameter; and controlling the vehicle combination to operate within the operational envelope.