A combination of a vehicle, an implement and a system for controlling at least one of a yaw angle and a lateral position of the implement with respect to the vehicle, wherein: the implement comprises a cross beam supporting a number of row units distributed side by side along the length of the cross beam, the row units adapted to perform an agricultural operation on plants standing in rows on a field, the row units configured for weeding, spraying and/or nursing the plants; the vehicle comprises steerable ground engaging front wheels and driven ground engaging rear wheels adapted to propel the vehicle over the field; an actuator arranged to control at least one of the yaw angle and the lateral position of the implement with respect to the vehicle; an implement control unit is programmed to control the actuator based upon a first signal regarding a difference between a sensed lateral position of the implement and a nominal lateral position of the implement to minimize the difference between the sensed lateral position and the nominal lateral position in order have the implement and its row units moving along a nominal path defined by the position of the plants on the field based on the first signal; the first signal is provided by at least one camera (60, 60') with an image processing system (62, 62'), the camera (60, 60') mounted on the cross beam of the implement and looking onto the field in front of the implement, the image processing system (62, 62') configured to extract from the images the relative position of the rows of plants with respect to the camera (60, 60') and to compare this position with a pre-stored or programmed nominal position of the plants to provide the first signal and/or wherein the first signal is provided by a receiver for receiving signals of a satellite-based positioning system, the receiver mounted on the cross beam and augmenting or replacing the signals from the image processing system (62, 62') using a pre-stored map with the location of the plants as reference, characterized in that the implement control unit is configured to control the actuator additionally based on a second signal regarding a steering movement of the vehicle and configured to predictively consider an expected lateral movement of the implement due to a change of the trajectory of the vehicle caused by the steering movement of the vehicle. the implement comprises a cross beam supporting a number of row units distributed side by side along the length of the cross beam, the row units adapted to perform an agricultural operation on plants standing in rows on a field, the row units configured for weeding, spraying and/or nursing the plants; the vehicle comprises steerable ground engaging front wheels and driven ground engaging rear wheels adapted to propel the vehicle over the field; an actuator arranged to control at least one of the yaw angle and the lateral position of the implement with respect to the vehicle; an implement control unit is programmed to control the actuator based upon a first signal regarding a difference between a sensed lateral position of the implement and a nominal lateral position of the implement to minimize the difference between the sensed lateral position and the nominal lateral position in order have the implement and its row units moving along a nominal path defined by the position of the plants on the field based on the first signal; the first signal is provided by at least one camera (60, 60') with an image processing system (62, 62'), the camera (60, 60') mounted on the cross beam of the implement and looking onto the field in front of the implement, the image processing system (62, 62') configured to extract from the images the relative position of the rows of plants with respect to the camera (60, 60') and to compare this position with a pre-stored or programmed nominal position of the plants to provide the first signal and/or wherein the first signal is provided by a receiver for receiving signals of a satellite-based positioning system, the receiver mounted on the cross beam and augmenting or replacing the signals from the image processing system (62, 62') using a pre-stored map with the location of the plants as reference, characterized in that the implement control unit is configured to control the actuator additionally based on a second signal regarding a steering movement of the vehicle and configured to predictively consider an expected lateral movement of the implement due to a change of the trajectory of the vehicle caused by the steering movement of the vehicle.