Camera monitoring system for vehicles including automatically calibrating camera

A camera monitoring system comprising:

• a first mirror replacement camera extending outward from a vehicle, the first mirror replacement camera defining a rearward facing field of view, wherein the rearward facing field of view includes at least one image feature during at least a first set of operating conditions, and wherein the at least one image feature has a fixed location within the field of view during the at least the first set of operating conditions, wherein the at least one image feature includes lane lines;
• and
• a camera monitoring system controller configured to automatically calibrate an orientation of the first mirror replacement camera relative to the vehicle by comparing an expected location of a first vanishing point of the lane lines to an actual location of a second vanishing point of the lane lines while the vehicle is operating under the first set of operating conditions and identifying a shift of camera orientation based on a difference in the first and second vanishing points, wherein the camera monitoring system controller is further configured to respond to the shift of camera orientation by adjusting a positioning of a displayed view when the shift is below a predefined magnitude.