Abstract: A method for planning a turn path of a vehicle includes monitoring coverage by the vehicle and/or a second vehicle, determining a turn start intersection point defined by an intersection of a first track path of a plurality of track paths and an inner headland pass at its corresponding edge, determining a turn end intersection point defined by an intersection of a second track path of the plurality of track paths and the inner headland pass at its corresponding edge, and creating a curved turn path from the turn start intersection point to the turn end intersection point based on coverage by the at least one of the vehicle and a second vehicle.