A method of determining a panoramic view of an environment behind a trailer of a vehicle-trailer system, the method comprising: receiving, at data processing hardware (140, 142), a first image (133, 133b) from a rear trailer camera (132, 132b) positioned on a rear portion of the trailer; receiving, at the data processing hardware (140, 142), a second image (133, 133c) from a right-side trailer camera (132, 132c) positioned on a right-side portion of the trailer; receiving, at the data processing hardware (140, 142), a third image (133, 133d) from a left-side trailer camera (132, 132d) positioned on a left-side portion of the trailer; receiving a fourth image (133, 133a) from a rear vehicle camera (132, 132a) positioned on a rear portion of a vehicle of the vehicle-trailer system, the fourth image (133, 133a) including a trailer representation of the trailer; determining, at the data processing hardware (140, 142), a panoramic view based on the first image (133, 133b), the second image (133, 133c), and the third image (133, 133d); determining, at the data processing hardware (140, 142), a trailer angle (α) based on sensor system data received from a sensor system; determining, at the data processing hardware (140, 142), a viewing area within the panoramic view based on the trailer angle (α); and sending, from the data processing hardware (140, 142) to a display in communication with the data processing hardware (140, 142), instructions to display the viewing area wherein the instructions to display the viewing area of the panoramic view include displaying the viewing area of the panoramic view within a boundary of the trailer representation of the fourth image (133, 133a). receiving, at data processing hardware (140, 142), a first image (133, 133b) from a rear trailer camera (132, 132b) positioned on a rear portion of the trailer; receiving, at the data processing hardware (140, 142), a second image (133, 133c) from a right-side trailer camera (132, 132c) positioned on a right-side portion of the trailer; receiving, at the data processing hardware (140, 142), a third image (133, 133d) from a left-side trailer camera (132, 132d) positioned on a left-side portion of the trailer; receiving a fourth image (133, 133a) from a rear vehicle camera (132, 132a) positioned on a rear portion of a vehicle of the vehicle-trailer system, the fourth image (133, 133a) including a trailer representation of the trailer; determining, at the data processing hardware (140, 142), a panoramic view based on the first image (133, 133b), the second image (133, 133c), and the third image (133, 133d); determining, at the data processing hardware (140, 142), a trailer angle (α) based on sensor system data received from a sensor system; determining, at the data processing hardware (140, 142), a viewing area within the panoramic view based on the trailer angle (α); and sending, from the data processing hardware (140, 142) to a display in communication with the data processing hardware (140, 142), instructions to display the viewing area wherein the instructions to display the viewing area of the panoramic view include displaying the viewing area of the panoramic view within a boundary of the trailer representation of the fourth image (133, 133a).