Method for controlling a feed mixing vehicle from a starting point to a destination point, wherein the feed mixing vehicle comprises the following components: - an autonomously movable and controllable chassis; - working elements in the form of a drive engine, a traction drive, a mixing container, a discharge device for feedstuffs, a weighing device for the quantity of feed which is to be received and a steering system for the chassis; - at least one scanner (17, 20, 21, 22, 23, 24) and/or at least one sensor (18, 25) for transmitting data; - at least one computer which interacts with the scanners and/or sensors, - the scanner (17, 20, 21, 22, 23, 24) and/or at least one sensor (18, 25) acquires surroundings data, characterized in that - the computer determines from the acquired surroundings data a three-dimensional point cloud which maps the surroundings and is composed of individual points (50-1, 50-2,..., 50-n), wherein the position of the individual points (50-1, 50-2, 50-3,..., 50-n) is defined in each case by a point coordinate, and the point cloud characterizes overall the situational spatial surroundings, - a 2D map is determined on the basis of a static, three-dimensional map, through compression of the data relating to the third plane into a surface, and the data which is determined by the scanner (17, 20, 21, 22, 23, 24) and/or at least one sensor (18, 25) is placed in relationship with the static, two-dimensional map, with the result that a travel path which is provided on the basis of the static map can be compared with the actual situation and it can be checked whether the travel path which is provided corresponds to predefined navigability requirements which are stored in the computer, - the position of the location of the feed mixing vehicle is sensed and defined as a starting point in the computer, - the computer determines a travel path between the starting point and a predefined destination point, - parameters which are predefined in the computer are compared with the point cloud which maps the surroundings, - criteria which permit correction of the determined travel path to form a newly calculated travel path are predefined in the computer, with the result that the travel path of the feed mixing vehicle can be checked for its navigability, and in the case of non-navigability being detected said travel path can be adapted autonomously to the requirements of the situational spatial surroundings and can be replaced by an alternative travel path. - an autonomously movable and controllable chassis; - working elements in the form of a drive engine, a traction drive, a mixing container, a discharge device for feedstuffs, a weighing device for the quantity of feed which is to be received and a steering system for the chassis; - at least one scanner (17, 20, 21, 22, 23, 24) and/or at least one sensor (18, 25) for transmitting data; - at least one computer which interacts with the scanners and/or sensors, - the scanner (17, 20, 21, 22, 23, 24) and/or at least one sensor (18, 25) acquires surroundings data, - the computer determines from the acquired surroundings data a three-dimensional point cloud which maps the surroundings and is composed of individual points (50-1, 50-2,..., 50-n), wherein the position of the individual points (50-1, 50-2, 50-3,..., 50-n) is defined in each case by a point coordinate, and the point cloud characterizes overall the situational spatial surroundings, - a 2D map is determined on the basis of a static, three-dimensional map, through compression of the data relating to the third plane into a surface, and the data which is determined by the scanner (17, 20, 21, 22, 23, 24) and/or at least one sensor (18, 25) is placed in relationship with the static, two-dimensional map, with the result that a travel path which is provided on the basis of the static map can be compared with the actual situation and it can be checked whether the travel path which is provided corresponds to predefined navigability requirements which are stored in the computer, - the position of the location of the feed mixing vehicle is sensed and defined as a starting point in the computer, - the computer determines a travel path between the starting point and a predefined destination point, - parameters which are predefined in the computer are compared with the point cloud which maps the surroundings, - criteria which permit correction of the determined travel path to form a newly calculated travel path are predefined in the computer,