In one embodiment, a method comprising receiving input corresponding to a first contour wayline to enable auto-steer traversal by a vehicle over a field； generating a plurality of contour waylines based on the first contour wayline； identifying a non-drivable section among the plurality of contour waylines, the identifying based on information corresponding to a time for the vehicle to reach a minimum turning radius and the minimum turning radius； and generating an alternative contour wayline section for the identified non-drivable section.
