Work machine and method for automatically controlling the trajectory of an implement relative to a target surface grade

A computer-implemented method of controlling movement of a ground-engaging tool for a work machine, wherein the ground-engaging tool is at a first end of an implement comprising one or more components coupled on a second end thereof to, and independently moveable with respect to, a main frame of the work machine, the method comprising:

• determining one or more future locations for a point of interest associated with the ground-engaging tool, based on sensed point of interest data comprising a current location, a current trajectory, and a current velocity thereof;
• calculating a convergence trajectory for the point of interest from the current location and with respect to a target surface profile, based at least in part on the determined one or more future locations along the current trajectory;
• and
• generating output signals for automatic control of movement of the point of interest based at least in part on the calculated convergence trajectory.