Patent ID: 8825263

Claim:
A method for guiding a leading vehicle according to a desired trailing vehicle path, the method comprising: determining a first desired path for a rear hitch location of a designated trailing vehicle of an implement train including at least the designated trailing vehicle and a leading vehicle; generating one or more proceeding paths for one or more intermediate locations along the implement train and a front hitch location of the leading vehicle with a propagation and transformation algorithm, generating the one or more proceeding paths with the propagation and transformation algorithm including: propagating a preceding path of one of the rear hitch location or one of the one or more intermediate locations to an immediately proceeding location of one of the one or more intermediate locations or the front hitch location, wherein the first desired path is a first preceding path, and transforming the preceding path according to intervening dimensional characteristics of the implement train to generate the proceeding path; and generating a second guiding path for the front hitch location of the leading vehicle with the propagation and transformation algorithm based on the immediately preceding path of the intermediate location closest to the front hitch location.