SYSTEMS AND METHODS FOR ADAPTING A DRIVING ASSISTANCE SYSTEM ACCORDING TO THE PRESENCE OF A TRAILER

System, methods, and other embodiments described herein relate to adapting operation of a driving assistance system according to a presence of a trailer. In one embodiment, a method includes adjusting system parameters according to attributes of a trailer connected with the subject vehicle. The system parameters control operation of the driving assistance system of the subject vehicle. The method includes, in response to detecting a nearby object from sensor data about a surrounding environment of the subject vehicle, estimating a path of the nearby object. The method includes activating the driving assistance system according to the system parameters when i) the estimated path satisfies an activation threshold and ii) the estimated path does not intersect a restricted zone of the trailer.