A guidance method for a convoy of vehicles comprising a guide vehicle at the head of the convoy and a plurality of follower vehicles (VS1, VS2, VS3, VS4, VS5, VS6, VS7), the guidance method aiming to guide each of the follower vehicles (VS1, VS2, VS3, VS4, VS5, VS6, VS7), each follower vehicle being an autonomous vehicle, the guidance method comprising, for each autonomous vehicle, steps consisting of: - acquiring, by the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7), trajectory data from the guide vehicle; - measuring, by sensors of the autonomous vehicle, data on the relative position of the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) with respect to at least one of the other vehicles of the convoy preceding the autonomous vehicle, said at least one of the other vehicles of the convoy comprising the vehicle of the convoy which immediately precedes the autonomous vehicle, this vehicle of the convoy being either the guide vehicle or one of the follower vehicles; - acquiring the instantaneous positions of at least some of the follower vehicles in the convoy, for example as a function of the relative position data measured by the autonomous vehicle and the trajectory data acquired from the guide vehicle; - calculating, by an electronic processing unit, a target trajectory as a function of: • the trajectory data acquired and relative position data measured by said autonomous vehicle, and • the instantaneous positions acquired; - commanding (110, 112) the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) to follow the calculated target trajectory, and wherein commanding the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) to follow the trajectory calculated for that autonomous vehicle comprises: - calculating command values from the calculated target trajectory, this calculation comprising, for the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7), the calculation of acceleration command values as a function of a longitudinal control law and as a function of the target trajectory, and the calculation of steering angle command values as a function of a lateral control law and as a function of the target trajectory; - applying the calculated command values to one or more actuators (26, 28, 30) of the autonomous vehicle to control the autonomous vehicle. - acquiring, by the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7), trajectory data from the guide vehicle; - measuring, by sensors of the autonomous vehicle, data on the relative position of the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) with respect to at least one of the other vehicles of the convoy preceding the autonomous vehicle, said at least one of the other vehicles of the convoy comprising the vehicle of the convoy which immediately precedes the autonomous vehicle, this vehicle of the convoy being either the guide vehicle or one of the follower vehicles; - acquiring the instantaneous positions of at least some of the follower vehicles in the convoy, for example as a function of the relative position data measured by the autonomous vehicle and the trajectory data acquired from the guide vehicle; - calculating, by an electronic processing unit, a target trajectory as a function of: • the trajectory data acquired and relative position data measured by said autonomous vehicle, and • the instantaneous positions acquired; • the trajectory data acquired and relative position data measured by said autonomous vehicle, and • the instantaneous positions acquired; - commanding (110, 112) the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) to follow the calculated target trajectory, and wherein commanding the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) to follow the trajectory calculated for that autonomous vehicle comprises: - calculating command values from the calculated target trajectory, this calculation comprising, for the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7), the calculation of acceleration command values as a function of a longitudinal control law and as a function of the target trajectory, and the calculation of steering angle command values as a function of a lateral control law and as a function of the target trajectory; - applying the calculated command values to one or more actuators (26, 28, 30) of the autonomous vehicle to control the autonomous vehicle. - calculating command values from the calculated target trajectory, this calculation comprising, for the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7), the calculation of acceleration command values as a function of a longitudinal control law and as a function of the target trajectory, and the calculation of steering angle command values as a function of a lateral control law and as a function of the target trajectory; - applying the calculated command values to one or more actuators (26, 28, 30) of the autonomous vehicle to control the autonomous vehicle.