A METHOD FOR ESTIMATING A RELATIVE ANGLE BETWEEN AN IMAGE OBTAINING DEVICE AND A VEHICLE

The disclosure relates to a method for estimating a relative angle (Θ) between an image obtaining device (10) and a vehicle (100), such as a trailer, wherein the relative angle (Θ) is defined by an angular difference between a first line (A) related to the image obtaining device (10) and a second longitudinal line (X) extending in a longitudinal extension of the vehicle (100), the method comprising: - obtaining an image of the vehicle (100) from of the image obtaining device (10), wherein the image depicts at least a first and a second vehicle portion (a_1, a_2) of the vehicle (100); - obtaining dimension information of the vehicle (100), wherein the dimension information comprises a first length (d1) of the first vehicle portion (a_1) and a second length (d2) of the second vehicle portion (a_2), - determining a first distance (L_1) to the first vehicle portion (a_1) with respect to the image obtaining device (10) and a second distance (L_2) to the second vehicle portion (a_2) with respect to the image obtaining device (10), wherein the first and second distances (L_1, L_2) are determined by use of the image, the first and second lengths (d1, d2) and a first trigonometric model; - by use of the first and second distances (L_1, L_2), the image and a second trigonometric model, estimating the relative angle (Θ) between the image obtaining device (10) and the vehicle (100). The disclosure also relates to a system (200), a second vehicle (120), a computer program, a computer readable medium and to a method for docking an uncoupled vehicle (100) to a second vehicle (120).