DYNAMICS-BASED ARTICULATION ANGLE ESTIMATOR FOR A VEHICLE COMBINATION

A system (110) for estimating an articulation angle of a vehicle combination (199) comprises: a motion sensor (111) for sensing one or more linear and/or angular motion quantities (y) of the vehicle combination; and a dynamics-based estimator (113) configured to estimate state variables (x) including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses (m) and moments of inertia (J) of the vehicle combination.