A computer-implemented method for guiding an autonomous vehicle in a forward path in real-time, characterised in that the method comprises: instructing the vehicle to terminate autonomous steering in the forward path according to a generated path upon identifying an angular difference between a current orientation of the vehicle and an orientation of the generated path to be greater than a predefined threshold value; and performing, for every predefined time interval, until the angular difference becomes less than the predefined threshold value, steps of: estimating a frontal area for the vehicle based on a current speed, an orientation, and a width of the vehicle, wherein the estimation of the frontal area comprises: determining a central orientation line and associated array points on the central orientation line, from a current position of the vehicle; identifying, for each of the array points, a line perpendicular to the central orientation line, passing through the array point on both sides of the central orientation line; identifying a plurality of direction points for each of the perpendicular lines, wherein a number of direction points, identified on each perpendicular line with respect to the central orientation line on the side distant from the generated path, reduces from a point of the frontal area nearest to the vehicle to a point of the frontal area furthest from the vehicle.; and estimating the frontal area based on the plurality of direction points on each of the perpendicular lines on both sides of the central orientation line; calculating a forward turning angle based on the angular difference and a length of the frontal area; and guiding the vehicle to manoeuvre steering within the frontal area at the forward turning angle towards the generated path. instructing the vehicle to terminate autonomous steering in the forward path according to a generated path upon identifying an angular difference between a current orientation of the vehicle and an orientation of the generated path to be greater than a predefined threshold value; and performing, for every predefined time interval, until the angular difference becomes less than the predefined threshold value, steps of: estimating a frontal area for the vehicle based on a current speed, an orientation, and a width of the vehicle, wherein the estimation of the frontal area comprises: determining a central orientation line and associated array points on the central orientation line, from a current position of the vehicle; identifying, for each of the array points, a line perpendicular to the central orientation line, passing through the array point on both sides of the central orientation line; identifying a plurality of direction points for each of the perpendicular lines, wherein a number of direction points, identified on each perpendicular line with respect to the central orientation line on the side distant from the generated path, reduces from a point of the frontal area nearest to the vehicle to a point of the frontal area furthest from the vehicle.; and estimating the frontal area based on the plurality of direction points on each of the perpendicular lines on both sides of the central orientation line; calculating a forward turning angle based on the angular difference and a length of the frontal area; and guiding the vehicle to manoeuvre steering within the frontal area at the forward turning angle towards the generated path. estimating a frontal area for the vehicle based on a current speed, an orientation, and a width of the vehicle, wherein the estimation of the frontal area comprises: determining a central orientation line and associated array points on the central orientation line, from a current position of the vehicle; identifying, for each of the array points, a line perpendicular to the central orientation line, passing through the array point on both sides of the central orientation line; identifying a plurality of direction points for each of the perpendicular lines, wherein a number of direction points, identified on each perpendicular line with respect to the central orientation line on the side distant from the generated path, reduces from a point of the frontal area nearest to the vehicle to a point of the frontal area furthest from the vehicle.; and estimating the frontal area based on the plurality of direction points on each of the perpendicular lines on both sides of the central orientation line; determining a central orientation line and associated array points on the central orientation line, from a current position of the vehicle; identifying, for each of the array points, a line perpendicular to the central orientation line, passing through the array point on both sides of the central orientation line; identifying a plurality of direction points for each of the perpendicular lines, wherein a number of direction points, identified on each perpendicular line with respect to the central orientation line on the side distant from the generated path, reduces from a point of the frontal area nearest to the vehicle to a point of the frontal area furthest from the vehicle.; and estimating the frontal area based on the plurality of direction points on each of the perpendicular lines on both sides of the central orientation line; calculating a forward turning angle based on the angular difference and a length of the frontal area; and guiding the vehicle to manoeuvre steering within the frontal area at the forward turning angle towards the generated path.