A LOW-SPEED MANEUVERING ASSISTANT FOR A VEHICLE

A maneuvering assistant system (100) for a vehicle combination (190) comprises: an interface (110) configured to receive measurements (z) from a camera (191); processing circuitry (120) implementing a Kalman filter (121) configured to observe an articulation angle (φ) of the vehicle combination on the basis of the measurements from the camera; a signal analyzer (130) configured to repeatedly estimate a signal noise of the camera measurement and to adjust the Kalman filter on the basis of statistics (R) derived from the estimated signal noise; and an assistance unit (140) configured to receive an estimate (φ̂) of the articulation angle from the Kalman filter and provide drive actions (u) based thereon.