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 . <EOS>