A method of defining a contoured path for an automatic guidance system, the method comprising: driving a vehicle (V) along a path, wherein the driven path (RP) includes a plurality of path segments (RPS) and driving along the path includes turning a rounded corner between consecutive path segments, executing a headland maneuver between consecutive path segments, or both, each of the path segments being straight or presenting one or more curved sections with a radius of curvature greater than a predetermined reference radius; defining a plurality of contoured path segments corresponding to the driven path segments (RPS); for each contoured path segment, determining one or more intersection points with one or more other contoured path segments; characterized in that the step of defining a plurality of contoured path segments corresponding to the driven path segments excludes rounded corners between consecutive path segments and headland maneuvers between consecutive path segments, the method further comprising: defining a contoured reference path (CP) as a sequence of the intersecting contoured path segments, the contoured reference path (CP) having sharp corners where the contoured path segments intersect; defining a subsequent contoured path (SP) based on the contoured reference path (CP), the subsequent contoured path including a sequence of intersecting contoured path segments, the subsequent contoured path having sharp corners where the contoured path segments intersect, each of the subsequent path segments corresponding to one of the contoured reference path (CP) segments but being offset therefrom; for each subsequent path segment presenting a curved section, comparing a radius of curvature of the curved section to the predetermined reference radius, and if the radius of curvature of the subsequent path segment is less than the predetermined reference radius, dividing the subsequent path segment into two segments and replacing the curved section with a sharp corner between the two segments. driving a vehicle (V) along a path, wherein the driven path (RP) includes a plurality of path segments (RPS) and driving along the path includes turning a rounded corner between consecutive path segments, executing a headland maneuver between consecutive path segments, or both, each of the path segments being straight or presenting one or more curved sections with a radius of curvature greater than a predetermined reference radius; defining a plurality of contoured path segments corresponding to the driven path segments (RPS); for each contoured path segment, determining one or more intersection points with one or more other contoured path segments; defining a contoured reference path (CP) as a sequence of the intersecting contoured path segments, the contoured reference path (CP) having sharp corners where the contoured path segments intersect; defining a subsequent contoured path (SP) based on the contoured reference path (CP), the subsequent contoured path including a sequence of intersecting contoured path segments, the subsequent contoured path having sharp corners where the contoured path segments intersect, each of the subsequent path segments corresponding to one of the contoured reference path (CP) segments but being offset therefrom; for each subsequent path segment presenting a curved section, comparing a radius of curvature of the curved section to the predetermined reference radius, and if the radius of curvature of the subsequent path segment is less than the predetermined reference radius, dividing the subsequent path segment into two segments and replacing the curved section with a sharp corner between the two segments. <EOS>