PATH PLANNING FOR TOW VEHICLE AND TRAILER

A method of planning a path for reversing a trailer along a defined path a includes defining a desired end point for a trailer path and determining a set of reversing trailer curvatures for moving the trailer between each of a plurality of possible waypoints along a possible trailer path. A steering angle is determined for each of the curvatures. The reversing trailer path to the end point is then created based on a set of waypoints selected based on the determined reversing trailer curvature at each of the plurality of possible waypoints that meets a defined path determination criteria.