Trailer assist system and method for a tow vehicle

A system and method for operating a trailer assist function of a for vehicle having a connected trailer includes receiving first sensor data of a first environment in a first field of view that is at least adjacent the first side of the tow vehicle and a corresponding side of the trailer. The position of the at least one first sensor relative to the tow vehicle is determined. Based on the position of the first sensor relative to the tow vehicle, a zone is determined having a length that is at least adjacent the side of the tow vehicle and the side of the trailer. Based on the first sensor data, a second vehicle in or approaching the zone is detected. In response to the detected second vehicle, sending a warning signal or a control signal to avoid a collision with the second vehicle.