A method for checking whether a driverless transport system comprising a towing vehicle with an obstacle sensor system (121, 124, 128) and at least one trailer, can drive a curve without falling below a minimum distance to an obstacle (152, 154), wherein none of the trailers comprises an obstacle sensor, characterized by the following steps: - determining the intended path to be traveled by the towing vehicle as set positions; - determining the envelope of set tow paths (202-210, 302-310) of each of the at least one trailer based on the set positions; - determining an obstacle-free set range in which no obstacle may be located based on the set positions and the envelopes of the set trajectory of each of the trailers, wherein the obstacle-free set range is calculated as a function of the set positions; and cyclically performing the following steps: - determining actual positions of potential obstacles (152, 154) using an obstacle sensing system (122, 124, 128) disposed on the towing vehicle; - determining an actual position of the towing vehicle of the driverless transportation system; - determining the obstacle-free actual area based on the actual position; - storing the actual position of an obstacle and/or the obstacle-free actual area based on the actual position of the towing vehicle; - calculating an envelope of actual towing curves (202-210, 302-310) of the at least one trailer as a function of the actual position of the towing vehicle of the driverless transport system and the set path; and - determining whether the envelope of the actual towing curves (202-210, 302-310) of the at least one trailer plus an optional minimum distance is within the obstacle-free set range and/or within the obstacle-free actual range, wherein the obstacle-free actual range is determined based on the actual positions of the obstacles (152, 154). - determining the intended path to be traveled by the towing vehicle as set positions; - determining the envelope of set tow paths (202-210, 302-310) of each of the at least one trailer based on the set positions; - determining an obstacle-free set range in which no obstacle may be located based on the set positions and the envelopes of the set trajectory of each of the trailers, wherein the obstacle-free set range is calculated as a function of the set positions; and cyclically performing the following steps: - determining actual positions of potential obstacles (152, 154) using an obstacle sensing system (122, 124, 128) disposed on the towing vehicle; - determining an actual position of the towing vehicle of the driverless transportation system; - determining the obstacle-free actual area based on the actual position; - storing the actual position of an obstacle and/or the obstacle-free actual area based on the actual position of the towing vehicle; - calculating an envelope of actual towing curves (202-210, 302-310) of the at least one trailer as a function of the actual position of the towing vehicle of the driverless transport system and the set path; and - determining whether the envelope of the actual towing curves (202-210, 302-310) of the at least one trailer plus an optional minimum distance is within the obstacle-free set range and/or within the obstacle-free actual range, wherein the obstacle-free actual range is determined based on the actual positions of the obstacles (152, 154).