Method for follow control in the lateral direction of a vehicle within a platoon comprising a lead vehicle which is travelling in front and prespecifies speed and direction and one or more following vehicles (1, 2) which follow at a distance, wherein a following vehicle is oriented towards the lead vehicle which is respectively travelling in front, wherein, for automatic, dynamically controlled lateral guidance of the following vehicle, the relative deviation (Δx, Δy) between a prespecified front reference point of the following vehicle and a rear reference point of the lead vehicle is detected by means of a sensor system of the following vehicle, wherein a setpoint steering angle (δ set) for steered front wheels of the following vehicle is calculated from the detected relative deviation (Δx, Δy) in such a way that when this setpoint steering angle (δ set) is set, the following vehicle follows in the tracks of the lead vehicle, and wherein, by means of the calculated setpoint steering angle (δ set) with an associated actuating variable, the steered front wheels of the following vehicle are set to the said setpoint steering angle (δ set) for a track-bound following operation, wherein the rear reference point of the lead vehicle as middle of the rear is detected with a front-side sensor system with respect to a central front reference point of the following vehicle and the relative deviation which is detected by said front-side sensor system with respect to the current straight-ahead direction of travel of the following vehicle, as longitudinal deviation (Δx) and lateral deviation (Δy), is transformed (Δx + e; Δy) into a rear axle reference point at the centre of the rear axle of the following vehicle, wherein, for the purpose of determining and prespecifying the setpoint steering angle (δ set), a radius of a segment of an arc of a circle which is to be driven along is calculated by the rear axle reference point of the following vehicle and the rear reference point and/or rear axle reference point of the lead vehicle with a centre point of a circle as the straight sectional point of the two rear axle extensions and/or on a straight line along the rear axle of the following vehicle from the geometric conditions by R = Δ l 2 + Δ y 2 2 ⁢ Δ ⁢ y where Δ ⁢ l = Δ ⁢ x + e and in that a curvature of the setpoint course (K set) which is to be driven along is calculated from the radius of the segment of an arc of a circle by K set = 1 R = 2 ⁢ Δ ⁢ y Δ l 2 + Δ y 2 and in that a setpoint angle (δ set) is calculated from the curvature of the setpoint course (K set) which is to be driven along, characterized in that, up to a prespecifiable speed with a prespecifiable speed threshold value of from 20 km/h to 40 km/h, the setpoint steering angle (δ set) is calculated from the setpoint curvature (K set) by δ set = atan r ⋅ K set where r is the distance between the front axle and the rear axle of the following vehicle, and in that the calculated setpoint angle (δ set) is impressed onto the steered front wheels of the following vehicle by means of a steering actuator, and in that the setpoint steering angle (δ set), preferably at higher speeds, is adjusted above a minimum speed with the control difference between the setpoint curvature and the actual curvature, wherein the actual curvature is calculated from the yaw rate and the speed by δ set = F p ⋅ κ set − ψ act υ act where F p is a proportional factor, and in that the calculated setpoint steering angle (δ set) is impressed onto the steered front wheels of the following vehicle by means of a steering actuator.