Method for determining the yaw angle (YA) of a trailer with respect to the longitudinal axis (LAV) of a towing vehicle , the method comprising the steps of: - capturing at least a first and a second image of the trailer using a camera , the orientation of the trailer with respect to the vehicle being different on the at least two images (S10); - determining at least a first feature (F1) of the trailer which is visible on first and second image (S11); - providing at least a first and a second algorithm for calculating at least one angle estimation based on said at least first feature (S12); - providing at least a first angle estimation (α1) for said first feature (F1) by ∘ deciding based on one or more criteria for each feature (F1) if the first or the second algorithm should be used for calculating said first angle estimation (α1) and calculating said first angle estimation (α1) based on an algorithm selected for first feature (F1) (S13A); or ∘ calculating first angle estimation (α1) for said first feature (F1) based on said first and said second algorithm and deciding based on one or more criteria if the first angle estimation (α1) obtained by the first algorithm or first angle estimation (α1) obtained by the second algorithm is used for further processing (S13B); and - calculating the yaw angle (YA) based on said first angle estimation (α1) (S14), characterized in that said step of deciding based on one or more criteria comprises determining the length (L) of a baseline (BL) between a feature (F1, F2) on the first image and said feature (F1, F2) on the second image and comparing said length (L) with a length threshold value. - capturing at least a first and a second image of the trailer using a camera , the orientation of the trailer with respect to the vehicle being different on the at least two images (S10); - determining at least a first feature (F1) of the trailer which is visible on first and second image (S11); - providing at least a first and a second algorithm for calculating at least one angle estimation based on said at least first feature (S12); - providing at least a first angle estimation (α1) for said first feature (F1) by ∘ deciding based on one or more criteria for each feature (F1) if the first or the second algorithm should be used for calculating said first angle estimation (α1) and calculating said first angle estimation (α1) based on an algorithm selected for first feature (F1) (S13A); or ∘ calculating first angle estimation (α1) for said first feature (F1) based on said first and said second algorithm and deciding based on one or more criteria if the first angle estimation (α1) obtained by the first algorithm or first angle estimation (α1) obtained by the second algorithm is used for further processing (S13B); and ∘ deciding based on one or more criteria for each feature (F1) if the first or the second algorithm should be used for calculating said first angle estimation (α1) and calculating said first angle estimation (α1) based on an algorithm selected for first feature (F1) (S13A); or ∘ calculating first angle estimation (α1) for said first feature (F1) based on said first and said second algorithm and deciding based on one or more criteria if the first angle estimation (α1) obtained by the first algorithm or first angle estimation (α1) obtained by the second algorithm is used for further processing (S13B); and - calculating the yaw angle (YA) based on said first angle estimation (α1) (S14), characterized in that said step of deciding based on one or more criteria comprises determining the length (L) of a baseline (BL) between a feature (F1, F2) on the first image and said feature (F1, F2) on the second image and comparing said length (L) with a length threshold value. <EOS>