A method of providing evasive steering assist (ESA) includes storing yaw rate data related to a host vehicle, wherein yaw rate data includes a yaw rate stored at each time step from an initial time step [0] to a current time step [n]. The method further includes determining whether to initiate ESA, wherein in response to a determination to initiate ESA, the method includes calculating a current position, a current heading angle, a destination position, and a destination heading angle, wherein the stored yaw rate data is utilized to determine the current heading angle and the destination heading angle. The method further includes generating an evasive steering assist (ESA) output based on the current position, the current heading angle, the destination position, and the destination heading angle.