A method for automatically driving a vehicle from a given first point (4, 3) to a given second point (3, 4) forming a target position, said vehicle being subject to lateral and/or longitudinal slips of the front wheels and of the rear wheels in its movements, characterised in that it contains at least the following phases: - a first phase in which a path to be followed is generated as a function of the state of said vehicle and of said target position, said state being defined by the current position and the orientation of said vehicle, said path being subdivided into a series of sections, the starting point of which forms an intermediate position; - a second phase in which, at the current intermediate position of said vehicle: o a curvature is defined for each of n next sections, said curvature varying from one section to the next according to a polynomial function of the curvature c r 0 of the section at said current position and of the curvature c r n -1 of the next n th section; o a prediction is made, before said vehicle engages a movement, as to whether said path can be followed over all of the n next sections, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; - a third phase in which, if said path can be followed, the steering lock angle of said front wheels and the linear traction speed of said vehicle are controlled as a function of the state of said vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of said rear wheels on said path; if the path cannot be followed, said vehicle is realigned towards said target position and a new path to be followed is generated according to the first phase. - a first phase in which a path to be followed is generated as a function of the state of said vehicle and of said target position, said state being defined by the current position and the orientation of said vehicle, said path being subdivided into a series of sections, the starting point of which forms an intermediate position; - a second phase in which, at the current intermediate position of said vehicle: o a curvature is defined for each of n next sections, said curvature varying from one section to the next according to a polynomial function of the curvature c r 0 of the section at said current position and of the curvature c r n -1 of the next n th section; o a prediction is made, before said vehicle engages a movement, as to whether said path can be followed over all of the n next sections, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; o a curvature is defined for each of n next sections, said curvature varying from one section to the next according to a polynomial function of the curvature c r 0 of the section at said current position and of the curvature c r n -1 of the next n th section; o a prediction is made, before said vehicle engages a movement, as to whether said path can be followed over all of the n next sections, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; - a third phase in which, if said path can be followed, the steering lock angle of said front wheels and the linear traction speed of said vehicle are controlled as a function of the state of said vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of said rear wheels on said path; if the path cannot be followed, said vehicle is realigned towards said target position and a new path to be followed is generated according to the first phase.