A system for estimating an articulation angle (α) between a first and a second connected vehicle section of an articulated vehicle combination, the system comprising: - a primary image obtaining device configured to be mounted on a first position of one of the vehicle sections and to obtain images of the other vehicle section during use; - a secondary image obtaining device configured to be mounted on a second position of one of the vehicle sections and to obtain images of the other vehicle section during use, 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; and wherein the system is configured to: - estimate the articulation angle (α) by use of at least one obtained image from the primary image obtaining device; - determine if an unreliability condition has been fulfilled which indicates that the articulation angle (α) 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 system is further configured to: - estimate the articulation angle (α) by use of at least one obtained image from the secondary image obtaining device, wherein the primary image obtaining device is an optical image obtaining device, such as a camera or a LIDAR, wherein the unreliability condition is a condition considered fulfilled when a light intensity in the obtained images of the primary image obtaining device is outside a predetermined light intensity range, wherein the predetermined light intensity range is defined by at least one of: - an upper limit associated with a too high light intensity, such as caused by direct or reflected sunlight and light from headlamps at night; - a lower limit associated with a too low light intensity, such as dark/night conditions and dirt and/or water splash on the primary image obtaining device. - a primary image obtaining device configured to be mounted on a first position of one of the vehicle sections and to obtain images of the other vehicle section during use; - a secondary image obtaining device configured to be mounted on a second position of one of the vehicle sections and to obtain images of the other vehicle section during use, 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; and wherein the system is configured to: - estimate the articulation angle (α) by use of at least one obtained image from the primary image obtaining device; - determine if an unreliability condition has been fulfilled which indicates that the articulation angle (α) cannot be reliably estimated from the at least one obtained image from the primary image obtaining device; and - estimate the articulation angle (α) by use of at least one obtained image from the primary image obtaining device; - determine if an unreliability condition has been fulfilled which indicates that the articulation angle (α) 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 system is further configured to: - estimate the articulation angle (α) by use of at least one obtained image from the secondary image obtaining device, - estimate the articulation angle (α) by use of at least one obtained image from the secondary image obtaining device, wherein the primary image obtaining device is an optical image obtaining device, such as a camera or a LIDAR, wherein the unreliability condition is a condition considered fulfilled when a light intensity in the obtained images of the primary image obtaining device is outside a predetermined light intensity range, wherein the predetermined light intensity range is defined by at least one of: - an upper limit associated with a too high light intensity, such as caused by direct or reflected sunlight and light from headlamps at night; - a lower limit associated with a too low light intensity, such as dark/night conditions and dirt and/or water splash on the primary image obtaining device. - an upper limit associated with a too high light intensity, such as caused by direct or reflected sunlight and light from headlamps at night; - a lower limit associated with a too low light intensity, such as dark/night conditions and dirt and/or water splash on the primary image obtaining device.