System and method for estimating an articulation angle of an articulated vehicle combination

A method for an articulated vehicle combination for estimating an articulation angle between a first and a second connected vehicle section of the articulated vehicle combination, wherein the articulated vehicle combination comprises:

• a primary image obtaining device mounted on a first position of one of the vehicle sections;
• a secondary image obtaining device mounted on a second position of one of the vehicle sections, the second position being different from the first position, and/or a mounting orientation at the second position of the secondary image obtaining device being different from a mounting orientation at the first position of the primary image obtaining device;
• wherein the method comprises:
• obtaining at least one image of the other vehicle section by the primary image obtaining device;
• estimating the articulation angle by use of the at least one obtained image from the primary image obtaining device;
• determining if an unreliability condition has been fulfilled which indicates that the articulation angle cannot be reliably estimated from the at least one obtained image from the primary image obtaining device;
• and
• when the unreliability condition has been fulfilled, the method further comprises:
• obtaining at least one image of the other vehicle section by the secondary image obtaining device;
• and
• estimating the articulation angle by use of the at least one obtained image from the secondary image obtaining device.