Abstract: A trailer tow assist system including a camera that captures a rearward image of the trailer and its surroundings, a human machine interface that displays the rearward image, an input device that receives user input, and an electronic processor. The electronic processor receives the rearward image, identifies a target-space within the surroundings, determines a vehicle orientation relative to the target-space, determines a trailer angle relative to the vehicle, determines a trailer trajectory within the surroundings, and displays the trailer trajectory and rearward image on the human machine interface. The electronic processor also controls, in response to the user input, the vehicle to follow the trailer trajectory along a centerline of the trailer trajectory.