Trailer jackknife prevention

A method of monitoring a vehicle-trailer system, comprising:

• receiving image data from a detection device, the image data including an image of a connection between a vehicle and a trailer being towed by the vehicle;
• estimating a maximum articulation angle between the vehicle and the trailer;
• analyzing the image data to estimate a current articulation angle;
• determining a difference between the current articulation angle and the maximum articulation angle;
• and
• based on the current articulation angle being greater than or equal to the maximum articulation angle, or based on the current articulation angle being within a range of the maximum articulation angle, controlling the vehicle to avoid a jackknife condition.

A vehicle system comprising:

• a detection device configured to monitor a connection between a vehicle and a trailer being towed by the vehicle, and generate data related to the connection;
• and
• a processing device configured to receive image data from a detection device, the image data including an image of the connection, the processing device configured to:
• estimate a maximum articulation angle between the vehicle and the trailer;
• analyze the image data to estimate a current articulation angle;
• determine a difference between the current articulation angle and the maximum articulation angle;
• and
• based on the current articulation angle being greater than or equal to the maximum articulation angle, or being within a range of the maximum articulation angle, control the vehicle to avoid a jackknife condition.