Trailer backup assist system with trajectory planner for multiple waypoints

A trailer backup assist system, comprising:

• a trajectory planner comprising:
• a first mode generating first and second of circular trajectories tangent to one another connecting between a current position of a trailer and a waypoint of a plurality of waypoints;
• a second mode generating the second circular trajectory to the waypoint;
• and
• a third mode switching to the first operating mode at the waypoint if the plurality of waypoints includes a subsequent waypoint;
• and
• a controller guiding the trailer based on the first and second circular trajectories.

A method for reversing a trailer between a plurality of waypoints, comprising:

• generating with a processor first and second circular trajectories tangent to one another connecting between a current position of the trailer and a first waypoint of the plurality of waypoints;
• guiding with a controller the trailer along the first circular trajectory while regenerating the first and second circular trajectories;
• guiding with the controller the trailer along the second circular trajectory to the first waypoint while regenerating the second circular trajectory;
• generating with the processor third and fourth circular trajectories tangent to one another connecting between the current position and a second waypoint of the plurality of waypoints;
• guiding with the controller the trailer along the third circular trajectory while regenerating the third and fourth circular trajectories;
• and
• guiding with the controller the trailer along the fourth circular trajectory to the second waypoint.