Method for determining a trailer articulation angle and vehicle

Abstract

The invention relates to a method for determining a trailer articulation angle (1) by processing at least one camera image recorded by a reversing camera (2) of a vehicle (3), wherein a trailer (5) attached to a trailer coupling (4) of the vehicle (3) is visible in the camera image. The method according to the invention is characterized by the following process steps: A: Obtaining the position of the trailer coupling (4) in the vehicle coordinate system, transforming the position into the camera image, and determining the image region of the camera image in which the trailer coupling (4) is located; B: Performing edge detection on the camera image to identify edges; C: Filtering the identified edges according to a defined filter scheme; and D: Determining the trailer articulation angle (1) by geometrically comparing the position of the trailer coupling (4) with the course of the edges filtered in step C.

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