Trailer lane departure warning and lane keep assist

A system comprising:

• one or more sensors configured to at least facilitate obtaining sensor data at a first point in time from onboard a vehicle that is towing a trailer within a lane of a roadway, the lane having one or more lane markers;
• and
• a processor onboard the vehicle and configured to at least facilitate:
• virtually reconstructing lane markings for the trailer using lane markers sensed via the camera data, generating reconstructed lane markings, wherein the reconstructed lane markings are generated for a second point in time that is subsequent to the first point in time;
• calculating a time to lane crossing (T-TTLC) value for the trailer at which the trailer is expected to cross the reconstructed lane markings, using the sensor data from the one or more sensors onboard the vehicle from the first point in time;
• and
• controlling operation of the vehicle, the trailer, or both based on the calculated T-TTLC value.

A vehicle configured to tow a trailer within a lane of a roadway, the lane having one or more lane markers;

• the vehicle comprising:
• a body;
• a propulsion system configured to generate movement of the body;
• one or more sensors onboard the vehicle and configured to at least facilitate obtaining sensor data at a first point in time;
• and
• a processor onboard the vehicle and configured to at least facilitate:
• virtually reconstructing, via a processor onboard the vehicle, lane markings for the trailer using lane markers sensed via the camera data, generating reconstructed lane markings, wherein the reconstructed lane markings are generated for a second point in time that is subsequent to the first point in time;
• calculating a time to lane crossing (T-TTLC) value for the trailer at which the trailer is expected to cross the reconstructed lane markings, using the sensor data from the one or more sensors onboard the vehicle from the first point in time;
• and
• controlling operation of the vehicle, the trailer, or both based on the calculated T-TTLC value.