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 (N), at least about a first axis of rotation (O1) generally perpendicular to the general plane (P) of the towing platform , and a trailer articulated on the towing platform at a second anchoring point (M), at least about a second axis of rotation (O2) generally perpendicular to the general plane (P) of the towing platform , at a second anchoring point (M), 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 (P) 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 (P) 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. <EOS>