Trailer backup trajectory overlay using trailer camera display system

A camera monitoring system (CMS) for a vehicle, comprising:

• a CMS controller including a memory and a processor;
• the CMS controller being connected to multiple cameras disposed about a vehicle and configured to receive a video feed from each of the cameras in the cameras, the CMS controller including at least one side camera configured to define a rear side view and at least one rear camera configured to generate a rear facing view;
• and
• the memory storing instructions for causing the processor to determine a trailer angle of a trailer, relative to a tractor, based on images provided by the at least one side camera, causing the processor to estimate a trailer angle rate, causing the processor to determine a trailer end location at multiple instances based at least in part on a vehicle speed, the estimated trailer angle rate, and the determined trailer angle, determining a projected trailer path using the determined trailer end locations and causing the processor to generate an overlay depicting the projected trailer path and apply the overlay to a rear view display.