#$%^&*AU2012244122A120130509.pdf#####Abstract 5 Arrangement for automatically steering a combination of a self-propelled vehicle and an implement for cultivating a field In a combination of a self-propelled vehicle (10) and an implement (12) for cultivating a field which is connected to the vehicle (10) the self-propelled vehicle (10) is steered 10 automatically along a first reference path by a steering control unit (26) and the implement (12) is guided in a lateral direction with respect to the vehicle (10) along a second reference path by an implement position control unit (42) by means of an actuator (36). It is proposed that the steering control unit (26) steers the vehicle (10) in dependence on the position of the actuator (36) at the time. It is thereby avoided, for 15 example when working on a lateral slope, that the actuator (36) reaches the end of its range of movement and the implement (12) leaves its reference path. Fig. 21/2 C) 0 CNI U-N F coo
