Method for determining the angular position of a vehicle comprising a towing vehicle, a towing platform articulated on the towing vehicle at a first anchoring point, at least about a first axis of rotation generally perpendicular to the general plane of the towing platform, and a trailer articulated on the towing platform at a second anchoring point, at least about a second axis of rotation generally perpendicular to the general plane of the towing platform, at a second anchoring point, which method is implemented by a system comprising a computer and a camera oriented toward the trailer, the method comprising the following steps of: - the camera acquiring a first image in a first reference position of the vehicle, and of detecting at least one characteristic point (F A) of the trailer in said first position, which point is observed in the first image; - the camera acquiring a second image in a second position of the vehicle, and of detecting said characteristic point (F B) in the second position, which point is observed in the second image, the detected characteristic point (FA, F B) being the same for each position; the method being characterized in that it comprises the following steps: - estimating the position of the characteristic point (F A, F B) in the first position and the second position of the vehicle, which point is observed in the first image and in the second image, respectively, by minimizing a cost function based on an iteration of different values of the height (y) of the characteristic point (F A) in the first position of the vehicle and of the characteristic point (F B) in the second position of the vehicle, along an axis perpendicular to the general plane of the towing platform; and - determining the angle of rotation (α2) between the trailer and the towing platform based on the position of the estimated characteristic point (F rŷA, F rŷB) in the first position and the second position that is estimated during the previous estimation step. - the camera acquiring a first image in a first reference position of the vehicle, and of detecting at least one characteristic point (F A) of the trailer in said first position, which point is observed in the first image; - the camera acquiring a second image in a second position of the vehicle, and of detecting said characteristic point (F B) in the second position, which point is observed in the second image, the detected characteristic point (FA, F B) being the same for each position; - estimating the position of the characteristic point (F A, F B) in the first position and the second position of the vehicle, which point is observed in the first image and in the second image, respectively, by minimizing a cost function based on an iteration of different values of the height (y) of the characteristic point (F A) in the first position of the vehicle and of the characteristic point (F B) in the second position of the vehicle, along an axis perpendicular to the general plane of the towing platform; and - determining the angle of rotation (α2) between the trailer and the towing platform based on the position of the estimated characteristic point (F rŷA, F rŷB) in the first position and the second position that is estimated during the previous estimation step.