A trailer detection system for a vehicle includes a trailer sensor, an imaging system, and a controller. The controller implements a trailer angle indication process including receiving and processing image data to identify a rotation point of a trailer coupled with the vehicle about a fifth-wheel hitch, left and right lateral edges of the trailer, and a distance between a rear portion of a cab of the vehicle and a front face of the trailer. Trailer yaw rate data is received and processed to determine an angle of the trailer about the rotation point, and an expected position of the front face of the trailer and at least one of the left and right lateral edges of the trailer with respect to the cab of the vehicle is calculated.