Method for autonomous driving of a vehicle, called an ego-vehicle, in the presence of at least two target objects, a first target object and a second target object, the method comprising the steps of: - acquisition by at least one sensor of the ego-vehicle of movement data of the first target object; - acquisition by at least one sensor of the ego-vehicle of movement data of the second target object; - determination of a target speed of the ego-vehicle from the movement data of the second target object; - determination of a target distance between the ego-vehicle and the first target object from the movement data of the first target object; - consolidation of an indicator of presence of the first target object and of the second target object, characterized in that the method comprises the steps of: • obtaining data from the sensor of the ego-vehicle, said data comprising information on the presence of the first target object and information on the presence of the second target object; • estimation of a trajectory of the ego-vehicle; • calculation of an instantaneous indicator of presence of the first target object and an instantaneous indicator of the second target object from said sensor data and said estimated trajectory of the ego-vehicle; • determination of a consolidated indicator of presence of the first target object and a consolidated indicator of presence of the second target object from the instantaneous indicators of presence of the first target object and the second target object and a history of consolidated indicators of presence of the first target object and the second target object; • determination of a minimum between the consolidated indicator of presence of the first target object and the consolidated indicator of presence of the second target object; - generation of an autonomous driving instruction of the ego-vehicle from the target speed, the target distance, and said minimum. - acquisition by at least one sensor of the ego-vehicle of movement data of the first target object; - acquisition by at least one sensor of the ego-vehicle of movement data of the second target object; - determination of a target speed of the ego-vehicle from the movement data of the second target object; - determination of a target distance between the ego-vehicle and the first target object from the movement data of the first target object; - consolidation of an indicator of presence of the first target object and of the second target object, characterized in that the method comprises the steps of: • obtaining data from the sensor of the ego-vehicle, said data comprising information on the presence of the first target object and information on the presence of the second target object; • estimation of a trajectory of the ego-vehicle; • calculation of an instantaneous indicator of presence of the first target object and an instantaneous indicator of the second target object from said sensor data and said estimated trajectory of the ego-vehicle; • determination of a consolidated indicator of presence of the first target object and a consolidated indicator of presence of the second target object from the instantaneous indicators of presence of the first target object and the second target object and a history of consolidated indicators of presence of the first target object and the second target object; • determination of a minimum between the consolidated indicator of presence of the first target object and the consolidated indicator of presence of the second target object; • obtaining data from the sensor of the ego-vehicle, said data comprising information on the presence of the first target object and information on the presence of the second target object; • estimation of a trajectory of the ego-vehicle; • calculation of an instantaneous indicator of presence of the first target object and an instantaneous indicator of the second target object from said sensor data and said estimated trajectory of the ego-vehicle; • determination of a consolidated indicator of presence of the first target object and a consolidated indicator of presence of the second target object from the instantaneous indicators of presence of the first target object and the second target object and a history of consolidated indicators of presence of the first target object and the second target object; • determination of a minimum between the consolidated indicator of presence of the first target object and the consolidated indicator of presence of the second target object; - generation of an autonomous driving instruction of the ego-vehicle from the target speed, the target distance, and said minimum.