ESTIMATION OF THE TRAILER POSITION RELATIVE TO TRUCK POSITION AND ARTICULATION ANGLE BETWEEN TRUCK AND TRAILER USING AN ELECTROMAGNETIC OR OPTICAL SENSOR

A method for estimating a position of a trailer relative to a truck of a road train includes providing or obtaining a kinematic model of the road train, providing or obtaining a length estimation of the trailer, and measuring an articulation angle between the truck and the trailer. The method further includes determining a position of the trailer relative to the truck using the kinematic model, the length estimation, and the measured articulation angle.