Upon initiation of trailer-hitching, an image is obtained of an area behind and in a horizontal plane with respect to a vehicle, the area including a rearwardly extending trailer hitch, with a hitch ball mounted thereto, mounted to the vehicle. The hitch ball is located in the image. An overshoot zone, having a length extending from a vehicle rear bumper to a nearest point on the vehicle hitch ball and having a width that is a sum of a diameter of the hitch and two times a lateral offset, is defined within the area, as is a misaligned zone having a border extending from the vehicle rear bumper to a line tangent to a rearmost point of the hitch ball. A vehicle action is caused upon determining that the trailer coupling is detected in the overshoot zone or the misaligned zone.