Abstract: A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The system determines, via processing of frames of image data captured by the camera, features of a trailer present rearward of the vehicle and hitched to the vehicle by determining features that have similar position changes between a current frame of image data captured by the camera and a previous frame of image data captured by the camera. Responsive to movement of the trailer relative to the vehicle, and via processing of captured frames of image data, the system tracks determined features over multiple captured frames of image data for different positions of the trailer relative to the vehicle. The system determines angle of the trailer relative to the vehicle based at least in part on tracking of determined features of the trailer over multiple captured frames of image data.