A method for checking whether a driverless transport system comprising a towing vehicle with an obstacle sensor system and at least one trailer , can drive a curve without falling below a minimum distance to an obstacle , 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 using an obstacle sensing system 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 . - 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 using an obstacle sensing system 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 . <EOS>