TRAILERING ASSIST SYSTEM WITH HITCH BALL POSITION DETECTION

A trailer assist system for a vehicle includes a camera disposed at the vehicle and viewing at least rearward of the vehicle including at least a portion of a trailer hitched to the vehicle. A control includes an image processor operable to process image data captured by the camera. The control, responsive to image processing at the control of captured image data, determines at least two feature points on the trailer and determines at least two matched feature point pairs from feature matching over two or more frames of captured image data. The control determines a perpendicular bisector of a respective line segment extending between the determined at least two matched point pairs, (iii) determines an intersection point of the perpendicular bisectors of the determined at least two matched point pairs, and (iv) determines a location of the hitch ball based at least in part on the intersection point.