A system and method for providing path planning and generation in a manually driven vehicle that provides a steering correction for collision avoidance purposes. The method includes determining a predicted path of the vehicle based on vehicle motion sensing data and vehicle parameters. The method also includes detecting a moving object in front of the vehicle and determining if a collision between the vehicle and the object will occur if the vehicle travels along the predicted path at the current vehicle speed. The method solves a fifth-order polynomial equation to define a collision avoidance path from the current vehicle position to a waypoint a safe distance from the object and a return path from the waypoint to the lane center that the vehicle is automatically steered along.