1. A method for determining a virtual target path that is used to calculate an evasive steering path for a subject vehicle around a target object in a travel path of the subject vehicle, said method comprising: providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle; separating the plurality of scan points into target object scan points received from the target object and other object scan points received from any other objects which exist; determining whether the virtual target path is to a left side or a right side of the target object, including using the plurality of scan points, representing a space between the scan points by triangles using Delaunay triangulation, defining vertices at mid-points of edges of the Delaunay triangles, defining segments as lines that connect to vertices and using Diikstra's algorithm to determine a shortest path between a start node and an end node, where the start node is a vertex with a minimum X-coordinate value and the end node is a vertex with a maximum X-coordinate value, where an X-coordinate value is a longitudinal distance ahead of the subject vehicle in global coordinates, and selecting a particular path that has a wider distance between target object scan points and other object scan points; identifying a closest scan point from the target object scan points that is the scan point that is closest to the subject vehicle; identifying a path point that is a predetermined safe distance from the closest scan point; determining, using a processor, a straight target line adjacent to the target object that goes through the path point and is parallel to a direction of the travel path of the subject vehicle before the subject vehicle follows the evasive steering path; determining whether the plurality of scan points include the other object scan points; making the evasive steering path the straight target line if no other object scan points exist; determining a distance between the target line and each of the other objects identified by the other object scan points if other object scan points do exist; determining whether all of the distances are greater than a predetermined threshold distance; making the evasive steering path the straight target line if all of the distances are greater than the threshold distance; identifying curve points for each other object whose distance is less than the predetermined threshold distance, where each curve point is a predetermined safe distance from the target object and the other object; identifying a curved path that connects the curve points to be the virtual target path; and using the evasive steering path, by a collision avoidance controller, to provide a steering command to the subject vehicle.