Kinematics model for camera monitor system

A camera monitor system (CMS) for a vehicle, comprising:

• a rear facing camera configured to provide a captured image of a field of view including at least a portion of a trailer including a trailer wheel;
• a display in communication with the camera and configured to depict a displayed image comprising at least a portion of the captured image including the portion of the trailer;
• and
• a controller in communication with the camera and the display, the controller comprising:
• a trailer detection module configured to determine a trailer boundary at a current trailer position, wherein the trailer detection module includes an object detection module is configured to detect the trailer wheel.
• a kinematics module including a model having a trailer rotational radius and a tractor rotational radius that are different than one another, wherein the model is provided by a first bicycle model with Ackerman steering indicative of a predicted tractor path, and a second bicycle model connected to the first bicycle model by a hitch point, the second bicycle model indicative of a predicted trailer path based upon the trailer rotational radius of the detected trailer wheel about the hitch point,
• and
• a collision alert module configured to provide an overlay on the displayed image corresponding to a region encompassing a predicted trailer path relative to the current trailer position based upon the model.