A method of controlling the speed of a vehicle traveling on a road from a target vehicle, the method comprising a first and a second traffic lanes allowing vehicles (102, 103) to travel in the same direction, the method being implemented by at least one processor, the method comprising the following steps: - obtaining, from an on-board camera of the vehicle, a geometric representation (C), expressed in a reference frame of the vehicle, of a center of the first taxiway on which the vehicle is traveling; - determination of a geometric representation (L, R), expressed in the vehicle frame of reference, of a straight line and a left line of the first taxiway, by translation, of the geometric representation of the center of the first taxiway, by a value equal to half the width of the first taxiway; - determination of a geometric representation (T), expressed in the vehicle frame of reference, of the trajectory of a central point of the vehicle; - determination of a geometric representation(T1), expressed in the vehicle frame of reference, of a first trajectory of a first point of the vehicle by negative translation of a half-width of the vehicle, with respect to the vehicle frame of reference, of the geometric representation of the trajectory of the central point of the vehicle; - determination of a geometric representation (T2), expressed in the vehicle frame of reference, of a second trajectory of a second point of the vehicle by positive translation of a half-width of the vehicle, with respect to the vehicle frame of reference, of the geometric representation of the trajectory of the central point of the vehicle; - determination of a first intersection (Xcd) between the geometric representation of the first trajectory and the geometric representation of the right or left line; - determination of a second intersection (Xfcd) between the geometric representation of the second trajectory and the geometric representation of the right or left line; - determination of a first crossing distance between the first intersection (xcd) and the first point of the vehicle and of a second crossing distance between the second intersection (xfcd) and a third point of the vehicle; - comparison of the first and second crossing distance to thresholds and the vehicle speed is regulated from a target vehicle traveling on the second taxiway if at least the first or at least the second crossing distance is below a threshold. - obtaining, from an on-board camera of the vehicle, a geometric representation (C), expressed in a reference frame of the vehicle, of a center of the first taxiway on which the vehicle is traveling; - determination of a geometric representation (L, R), expressed in the vehicle frame of reference, of a straight line and a left line of the first taxiway, by translation, of the geometric representation of the center of the first taxiway, by a value equal to half the width of the first taxiway; - determination of a geometric representation (T), expressed in the vehicle frame of reference, of the trajectory of a central point of the vehicle; - determination of a geometric representation(T1), expressed in the vehicle frame of reference, of a first trajectory of a first point of the vehicle by negative translation of a half-width of the vehicle, with respect to the vehicle frame of reference, of the geometric representation of the trajectory of the central point of the vehicle; - determination of a geometric representation (T2), expressed in the vehicle frame of reference, of a second trajectory of a second point of the vehicle by positive translation of a half-width of the vehicle, with respect to the vehicle frame of reference, of the geometric representation of the trajectory of the central point of the vehicle; - determination of a first intersection (Xcd) between the geometric representation of the first trajectory and the geometric representation of the right or left line; - determination of a second intersection (Xfcd) between the geometric representation of the second trajectory and the geometric representation of the right or left line; - determination of a first crossing distance between the first intersection (xcd) and the first point of the vehicle and of a second crossing distance between the second intersection (xfcd) and a third point of the vehicle; - comparison of the first and second crossing distance to thresholds and the vehicle speed is regulated from a target vehicle traveling on the second taxiway if at least the first or at least the second crossing distance is below a threshold.