A method for planning a turn path of a vehicle (12) is disclosed. The method comprising: monitoring (108) coverage by at least one of the vehicle (12) and a second vehicle (80, 230)； defining (110, 210) a headland region (26) of one or more headland passes (38) in a work area (32) between an exterior boundary (30) and a headland boundary edge (40)； defining (112, 212) a plurality of track paths (34) extending in a generally parallel relationship and having a plurality of track path ends (36) disposed at an inner headland pass (38) of the headland region (26), the inner headland pass (38) having an edge defining the headland boundary edge (40)；determining (114) a turn start intersection point (44) defined by an intersection of a first track path (46) of the plurality of track paths (38) and the inner headland pass (38) at its corresponding edge； determining (116) a turn end intersection point (50) defined by an intersection of a second track path (52) of the plurality of track paths (34) and the inner headland pass (38) at its corresponding edge； and creating (118) a curved turn path (56) from the turn start intersection point (44) to the turn end intersection point (50) based on the coverage by the at least one of the vehicle (12) and a second vehicle (80, 230). Furthermore, a system (10) for planning a path of a vehicle (12) is disclosed.
