According to the disclosed subject matter a runway path is generated, in real-time, as the aircraft proceeds in the general takeoff direction along the runway surface. As part of the initial stages of the takeoff process, one or more reference points are selected, where accurate positioning of the reference point is not necessary. The runway path is generated based on points which are sampled in real-time as the aircraft progresses along the runway surface. Sampling includes determining the relative position of points in relation to the one or more reference points. A line representing the runway path and extending in the general takeoff direction is generated based on the collection of sampled points. If the aircraft deviates from the intended takeoff direction and/or from the generated line, appropriate steering commands are generated for correcting the deviation and maintaining the aircraft on course.