METHOD AND SYSTEM FOR CALCULATING VEHICLE TRAILER ANGLE

The invention relates to a method for determining the yaw angle (YA) of a trailer (2) with respect to the longitudinal axis (LAV) of a towing vehicle (1), the method comprising the steps of: - capturing at least a first and a second image of the trailer (2) using a camera (3), the orientation of the trailer (2) with respect to the vehicle (1) being different on the at least two images (S10); - determining at least a first and a second feature (F1, F2) of the trailer (2) which are visible on first and second image, wherein said first and second feature (F1, F2) is arranged at different positions of the trailer (2) (S11); - calculating a first angle estimation (α1), the first angle estimation (α1) characterizing the pivot angle in a horizontal plane between the first feature (F1) on the first image and the first feature (F1) on the second image with respect to a fix point of the towing vehicle (1) (S12); - calculating a second angle estimation (α2), the second angle estimation (α2) characterizing the pivot angle in a horizontal plane between the second feature (F2) on the first image and the second feature (F2) on the second image with respect to the fix point of the towing vehicle (1) (S13); - calculating the yaw angle (YA) based on said first and second angle estimations (α1, α2) (S14).