Abstract: A system and method for estimating characteristics of a trailer. The system includes a trailer a vehicle with a sensor, a camera, and an electronic controller configured to receive first data from at least one of the sensor and the camera at a first location relative to the trailer, determine a second location relative to the trailer for the vehicle, the second location being a different location than the first location, generate a signal to move the vehicle from the first location to the second location, receive second data from at least one of the sensor and the camera at the second location, determine a characteristic of the trailer based upon the first data and the second data, and determine a movement behavior of the trailer based upon the characteristic before the vehicle couples to the trailer.