A SYSTEM AND METHOD TO TRACK A COUPLED VEHICLE

A method for providing a yaw angle () between a first vehicle () coupled to a second vehicle (), comprises: receiving an image of the first vehicle from a camera () mounted on the second vehicle; performing () a polar transformation on the image to form a polar image () in a polar space having an origin corresponding to a location of a pivot point () of the coupling () to the second vehicle in the received image coordinate space; estimating () an optical coupling angle by analysing the content of the polar image; receiving a signal from an odometer () mounted on the first or second vehicle; estimating a kinematic coupling angle from the signal and a kinematic model of the first vehicle and the coupled second vehicle; and combining the estimated optical coupling angle and the estimated kinematic coupling angle to provide the coupling angle.