A system and method system for determining when an object detected by a collision avoidance sensor on one member of an articulated vehicle comprises another member of the vehicle are provided. The system includes a collision avoidance sensor disposed on a first member of the vehicle and configured to detect an object within a field of view of the sensor on a side of the first member of the vehicle. The system further includes a controller configured to determine an articulation angle between the first member of the vehicle and a second member of the vehicle and to determine in response to the articulation angle, whether the second member of the vehicle is the object within the field of view of the collision avoidance sensor on the first member of the vehicle.