A method for generating safe navigation path for a vehicle, the method comprising: receiving, by a navigation path generation system, a reference path between a source and a destination, wherein the reference path is confined between a left boundary and a right boundary; projecting, by a navigation path generation system, a line perpendicular to an orientation of the vehicle present at the source, to at least one of the left boundary and the right boundary, wherein an end point of the line projected towards the left boundary lies on the left boundary and wherein the end point of the line projected towards the right boundary lies on the right boundary; generating, by the navigation path generation system, a plurality of segments along at least one of the left boundary and the right boundary, starting from the end point of the line; determining, by the navigation path generation system, an angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line; projecting, by the navigation path generation system, at least one of a horizontal line and a vertical line from a predefined point of each of the plurality of segments to an opposite road boundary, based on the angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line; determining, by the navigation path generation system, a centre point of the at least one of the horizontal line and vertical line projected from each of the plurality of segments; and generating, by the navigation path generation system, a safe navigation path for the vehicle based on the centre point of the at least one of the horizontal line and vertical line projected from each of the plurality of segments. receiving, by a navigation path generation system, a reference path between a source and a destination, wherein the reference path is confined between a left boundary and a right boundary; projecting, by a navigation path generation system, a line perpendicular to an orientation of the vehicle present at the source, to at least one of the left boundary and the right boundary, wherein an end point of the line projected towards the left boundary lies on the left boundary and wherein the end point of the line projected towards the right boundary lies on the right boundary; generating, by the navigation path generation system, a plurality of segments along at least one of the left boundary and the right boundary, starting from the end point of the line; determining, by the navigation path generation system, an angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line; projecting, by the navigation path generation system, at least one of a horizontal line and a vertical line from a predefined point of each of the plurality of segments to an opposite road boundary, based on the angle between each of the plurality of segments with at least one of a horizontal reference line and a vertical reference line; determining, by the navigation path generation system, a centre point of the at least one of the horizontal line and vertical line projected from each of the plurality of segments; and generating, by the navigation path generation system, a safe navigation path for the vehicle based on the centre point of the at least one of the horizontal line and vertical line projected from each of the plurality of segments.