A vehicular control system includes a camera having an exterior field of view at least rearward of the vehicle and operable to capture image data. A trailer is attached to the vehicle and image data captured by the camera includes image data captured when the vehicle is maneuvered with the trailer at an angle relative to the vehicle. The vehicular control system determines a trailer angle of the trailer and is operable to determine a path of the trailer responsive at least to a steering angle of the vehicle and the determined trailer angle of the trailer. The vehicular control system determines an object present exterior of the vehicle and the vehicular control system distinguishes a drivable surface from a prohibited space, and the vehicular control system plans a driving path for the vehicle that neither impacts the object nor violates the prohibited space.