METHOD FOR REVERSING A VEHICLE COMBINATION

The disclosure relates to a method for reversing a vehicle combination () comprising a towing vehicle () and at least one trailer (), said method comprising: (S) reversing the vehicle combination, (S) determining whether a jack-knifing condition (J) is about to occur by comparing a predicted future estimate of the articulation angle (Φ) with a maximum safe articulation angle (Φ), wherein the maximum safe articulation angle (Φ) is estimated according to the first aspect of the invention, and when it is determined that the jack-knifing condition (J) is about to occur, perform at least one of the following steps: (S) issue a warning signal, and (S) initiate a braking action for the vehicle combination, wherein the predicted future estimate of the articulation angle (Φ) is based on an estimated driver reaction time for initiating a braking action.