A method for steering a vehicle along a path in a driveway and around obstacles (31, 32, 33, 34; 14) between a starting position and a target position, comprising the steps of determining dimensions, steering, and driving capabilities of the vehicle, and based on the determined dimensions, steering, and driving capabilities, carrying out a path planner step to evaluate a least costly path between the starting position and the target position based on a predetermined cost function, this path avoiding any collisions with static obstacles (31, 32, 33, 34), so as to obtain a first trajectory for the vehicle, and applying a path improver function smoothening the first trajectory by performing a numerical optimization to obtain a second trajectory from the start position to the target position of the vehicle, while fulfilling equations of motion of the vehicle as well as vehicle-related constraints, driveway-related constraints, and dynamical constraints, the latter taken from the group encompassing intervals of acceleration, intervals of deceleration, predetermined speed interval, and steering rate of the vehicle, wherein the numerical optimization is performed by computing distances between potential trajectories and the first trajectory, and derivatives of said distances, said potential trajectories being several dynamically feasible, collision-free trajectories, and uses a first-order numerical method or a second-order numerical method for continuous optimization, together with said derivatives, so as to obtain the second trajectory as one of said potential trajectories that comes closest to the least costly path. determining dimensions, steering, and driving capabilities of the vehicle, and based on the determined dimensions, steering, and driving capabilities, carrying out a path planner step to evaluate a least costly path between the starting position and the target position based on a predetermined cost function, this path avoiding any collisions with static obstacles (31, 32, 33, 34), so as to obtain a first trajectory for the vehicle, and applying a path improver function smoothening the first trajectory by performing a numerical optimization to obtain a second trajectory from the start position to the target position of the vehicle, while fulfilling equations of motion of the vehicle as well as vehicle-related constraints, driveway-related constraints, and dynamical constraints, the latter taken from the group encompassing intervals of acceleration, intervals of deceleration, predetermined speed interval, and steering rate of the vehicle, carrying out a path planner step to evaluate a least costly path between the starting position and the target position based on a predetermined cost function, this path avoiding any collisions with static obstacles (31, 32, 33, 34), so as to obtain a first trajectory for the vehicle, and applying a path improver function smoothening the first trajectory by performing a numerical optimization to obtain a second trajectory from the start position to the target position of the vehicle, while fulfilling equations of motion of the vehicle as well as vehicle-related constraints, driveway-related constraints, and dynamical constraints, the latter taken from the group encompassing intervals of acceleration, intervals of deceleration, predetermined speed interval, and steering rate of the vehicle, wherein the numerical optimization is performed by computing distances between potential trajectories and the first trajectory, and derivatives of said distances, said potential trajectories being several dynamically feasible, collision-free trajectories, and uses a first-order numerical method or a second-order numerical method for continuous optimization, together with said derivatives, so as to obtain the second trajectory as one of said potential trajectories that comes closest to the least costly path. is performed by computing distances between potential trajectories and the first trajectory, and derivatives of said distances, said potential trajectories being several dynamically feasible, collision-free trajectories, and uses a first-order numerical method or a second-order numerical method for continuous optimization, together with said derivatives, so as to obtain the second trajectory as one of said potential trajectories that comes closest to the least costly path.