VEHICULAR TRAILERING ASSIST SYSTEM WITH HITCH POINT DETECTION

A vehicular trailering assist system includes a camera at a vehicle operable to capture image data of a trailer hitched to the vehicle. The system, during a driving maneuver, and via processing frames of image data, determines locations in the frames of a target at the trailer. The system determines real-world coordinates of the target that correspond to the determined locations in the frames of image data. The system determines a first intersection line between the real-world coordinates corresponding to first and second frames and a first line perpendicular to the first intersection line. The system determines a second intersection line between the real-world coordinates corresponding to third and fourth frames and a second line perpendicular to the second intersection line. The system determines a pivot point of the trailer based on an intersection of the first and second perpendicular lines.