In one embodiment, the present invention includes a vehicle guidance system. In one embodiment, the vehicle guidance system includes a navigation system capable of providing vehicle location information including the vehicle position. In the present embodiment, the vehicle guidance system further includes data storage means capable of storing at least one pre-determined course having a preferred direction of travel. The present embodiment also includes processing means capable of receiving the vehicle location information, calculating the magnitude of any displacement of the vehicle in a direction perpendicular to the closest point of the predetermined course and thereupon generating an intermediate waypoint at a predetermined response distance from the vehicle. In this embodiment, the intermediate waypoint is generated along a composite line formed by the shortest route from the vehicle to a point of intersection with the predetermined course and extending thereupon along the predetermined route in the preferred direction for a distance along said composite line equal to the predetermined response distance. The present embodiment also calculates the heading from the vehicle to the intermediate waypoint and outputs the same as a corrective course heading.