Camera monitor system with trailer reverse park assist having graphical overlay

A camera monitor system (CMS) for a tractor with a trailer, the CMS comprising:

• multiple cameras including first and second cameras respectively configured to provide first and second fields of view, the first field of view along one side of the trailer, and the second field of view along another side of the trailer;
• at least one sensor configured to provide a third field of view aft of a trailer end of the trailer, the at least one sensor configured to detect at least one object in proximity to the trailer end;
• multiple displays including first and second displays configured to respectively depict at least portions of the first and second fields of view, one of the multiple displays configured to depict the third field of view provided by at least a graphical overlay;
• and
• a controller in communication with the multiple displays, the controller configured to determine an edge line of each trailer side wall relative to the trailer end, and the edge lines are displayed on the one of the multiple displays as at least a portion of the graphical overlay to illustrate an estimated location of the trailer side walls.