When the USS Enterprise is traveling warp speed, can it accidentally crash into a planet or another ship?

Question

I'm just curious to know whether the Enterprise just steers clear of other ships and large pieces of matter before or when traveling by warp speed, OR if it actually goes through matter when traveling by warp speed.

Answer 1

Cool question!
My theory is that the sensors on the ship keep track of what's out in front so the vessel doesn't crash into anything.

But you never know, it might be Q making sure they don't tear up anything in his universe-for-a-playground.

Answer 2

No, don't you hear them say "plot a course"