A method and system is disclosed to operate a vehicle pulling a trailer through a cornering maneuver is disclosed. An outer, concave edge and an inner, convex edge of a negotiable road are identified. A path of travel is determined for an inner wheel of the trailer of the vehicle. A first directrix is determined on which a guide point of the vehicle must move in order to pull the inner wheel along the determined path of travel. A second directrix is determined, on which a outer, front wheel of the vehicle must move in order to pull the guide point along the first directrix. A concave-side distance between the outer, front wheel and the concave edge is estimated. When the difference between the distance on concave-side and convex-side exceeds a threshold value, the convex-side distance is adjusted to be closer to the concave-side distance.