TRAILER LANE DEPARTURE WARNING AND SWAY ALERT

A trailer-detection system (10) includes a radar-sensor (20), an angle-detector (30), a camera (34), and a controller (48). The radar-sensor (20) is used to determine a range (22) and an azimuth-angle(24) of a radar-signal (26) reflected by a trailer (14) towed by a host-vehicle (12). The angle-detector (30) is used to determine a trailer-angle (32) relative to the host-vehicle (12) of the trailer (14) towed by the host-vehicle (12). The camera (34) is used to detect a lane-marking (36) of a roadway (18) traveled by the host-vehicle (12) and trailer (14). The controller (48) is in communication with the radar-sensor (20), the angle-detector (30), and the camera (34). The controller (48) is configured to determine when the trailer (14) is departing from a travel-lane (16) of the roadway (18) based on the radar-signal (26), the trailer-angle (32), and the lane-marking (36). 种拖车检测系统(10)包括雷达传感器(20)、角度检测器(30)、相机(34)和控制器(48)。所述雷达传感器(20)用于确定主车辆(12)所牵引的拖车(14)所反射的雷达信号(26)的范围(22)和方位角(24)。所述角度检测器(30)用于确定所述主车辆(12)所牵引的所述拖