Estimating a path curvature of a trailer

A computer system comprising processing circuitry configured to:

• receive, for each point in time of a series of consecutive points in time, a set of indications including an indication of an articulation angle of an articulated joint coupling a tractor and a trailer together to thereby form a combination vehicle an indication of a yaw rate of the tractor, and an indication of a longitudinal speed of the tractor;
• estimate, for each point in time of the series of consecutive points in time, an instantaneous turning radius of the trailer based on the indication of the articulation angle, the indication of the yaw rate of the tractor, and the indication of the longitudinal speed of the tractor;
• curve-fit a time series of estimated instantaneous turning radii of the trailer to an arc of a circle having a radius;
• and
• determine an indication of an instantaneous path curvature of the trailer based on the radius of the circle.