Trailer lane departure warning system

A method for providing a lane departure warning for a vehicle towing a trailer, comprising:

• detecting a lane boundary on a roadway with an imager;
• sensing a hitch angle between the vehicle and the trailer;
• determining a lateral offset of the trailer relative to the vehicle based on the hitch angle and length and width dimension of the trailer;
• and
• generating a warning signal when the lateral offset traverses the lane boundary.

A method for providing a lane departure warning for a vehicle towing a trailer, comprising:

• detecting a lane boundary on a roadway proximate the vehicle;
• determining a curvature of the roadway proximate the vehicle;
• sensing a hitch angle between the vehicle and the trailer;
• determining a lateral offset of an outside rear portion the trailer relative to the vehicle based on the hitch angle, a length of the trailer, and a width of the trailer;
• reducing the lateral offset when the curvature is greater than a threshold curvature tightness and correlates with an orientation of the hitch angle;
• and
• generating a warning signal when the lateral offset crosses the lane boundary.