A method of maneuvering a tractor in reverse for attachment to a trailer (200, 200a-c) using a hitch assist system, the method comprising: entering a hitch assist mode; displaying a camera image on a user interface, wherein the displayed image shows at least one trailer (200, 200a-c); selecting a trailer (200, 200a-c); receiving, at the user interface in communication an indication of a selected trailer (200, 200a-c); determining with a computing device a tractor path from an initial position (P I) to a final position (P F) adjacent the trailer (200, 200a-c), the tractor path comprising maneuvers configured to move the tractor along the tractor path from the initial (Pi) position to the final position (P F); and autonomously following, at a drive system in communication with the computing device, the tractor path from the initial position (Pi) to the final position (P F), wherein displaying on the user interface further comprises receiving, at a controller, one or more images from one or more cameras positioned on a back portion of the tractor and in communication with the controller, and overlaying on the displayed camera image, at the controller, a path representation indicative of an expected path the tractor drives along, the expected path starting at a tractor hitch, and wherein selecting the trailer (200, 200a-c) further comprises receiving, at the controller, a first command by way of the user interface, the first command indicative of a change in the path representation such that the path representation ends at a point of interest, and adjusting, at the controller, the path representation based on the first command and wherein the path planning is completed by the controller for the hitch assist system. entering a hitch assist mode; displaying a camera image on a user interface, wherein the displayed image shows at least one trailer (200, 200a-c); selecting a trailer (200, 200a-c); receiving, at the user interface in communication an indication of a selected trailer (200, 200a-c); determining with a computing device a tractor path from an initial position (P I) to a final position (P F) adjacent the trailer (200, 200a-c), the tractor path comprising maneuvers configured to move the tractor along the tractor path from the initial (Pi) position to the final position (P F); and autonomously following, at a drive system in communication with the computing device, the tractor path from the initial position (Pi) to the final position (P F), wherein displaying on the user interface further comprises receiving, at a controller, one or more images from one or more cameras positioned on a back portion of the tractor and in communication with the controller, and overlaying on the displayed camera image, at the controller, a path representation indicative of an expected path the tractor drives along, the expected path starting at a tractor hitch, and wherein selecting the trailer (200, 200a-c) further comprises receiving, at the controller, a first command by way of the user interface, the first command indicative of a change in the path representation such that the path representation ends at a point of interest, and adjusting, at the controller, the path representation based on the first command and wherein the path planning is completed by the controller for the hitch assist system.