Trailer dimension estimation with two dimensional radar and camera

A trailer-detection system configured to determine a dimension of a trailer towed by a host-vehicle, said system comprising:

• a radar-sensor used to determine a range and an azimuth-angle of a radar-signal reflected by a feature of a trailer towed by a host-vehicle;
• a camera used to capture an image of the trailer towed by the host-vehicle;
• and
• a controller in communication with the radar-sensor and the camera, said controller configured to:
• determine a position in the image of at least a first viewable-feature and a second viewable-feature of a front of the trailer towed by the host-vehicle;
• wherein the first viewable-feature comprises a top-horizontal-edge of the front of the trailer and the second viewable-feature comprises a bottom-horizontal-edge of the front of the trailer;
• and
• determine a trailer-height of the trailer based on the position and a range and azimuth-angle to the first viewable-feature and the second viewable-feature indicated by the radar-sensor.