The Saddlers sit one place behind United in the relegation places but are only seperated from United by goal difference.
After the 0-0 draw at promotion-chasing Colchester on Tuesday night Halsall is confident his side have the ability to survive.
"I didn't expect to go down to a team flying high in the league and get a point, but the lads battled exceptionally well and really put their heart and soul into the game," he said.
"I know that if we maintain that attitude there's a good chance that we can get out of this situation."