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 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 (R) 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 (R) 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. <EOS>