A computer-implemented method for determining data representative of the route of a road in a two-dimensional Cartesian coordinate system , said coordinate system being associated with a vehicle traveling on said road, said coordinate system being defined by a longitudinal axis and a lateral axis, said method comprising the steps of: - determination of a first set of first coordinate points (x1, (y1) in said coordinate system from data representative of at least one image of the road environment in front of said vehicle , said first points being representative of the curvature of the road between a first minimum abscissa and a first maximum abscissa along the longitudinal axis, said first minimum abscissa corresponding to the origin of said reference point ; - determination of a second set of second coordinate points (x2, (y2) in said benchmark from data mapping the road environment of said vehicle , said second points being representative of the curvature of the road between a second minimum abscissa and a second maximum abscissa along the longitudinal axis, said second minimum abscissa corresponding to the origin of said reference point and said second maximum abscissa being greater than said first minimum abscissa, each first point of the first set corresponding to a second point of the second set in that the first point and the second corresponding point have the same x-axis; - determination of the first smallest x-coordinate value (X p ) for which the absolute value of the difference between the y-coordinate of a first point and the y-coordinate of the second corresponding point is greater than a threshold value; - modification of the y-coordinate value of each second point of the second set by the addition of said difference; - determination of said data representative of the route of the road from the first points whose first abscissa is less than said first smallest x-axis value and from the second points whose second abscissa is greater than said first smallest x-axis. - determination of a first set of first coordinate points (x1, (y1) in said coordinate system from data representative of at least one image of the road environment in front of said vehicle , said first points being representative of the curvature of the road between a first minimum abscissa and a first maximum abscissa along the longitudinal axis, said first minimum abscissa corresponding to the origin of said reference point ; - determination of a second set of second coordinate points (x2, (y2) in said benchmark from data mapping the road environment of said vehicle , said second points being representative of the curvature of the road between a second minimum abscissa and a second maximum abscissa along the longitudinal axis, said second minimum abscissa corresponding to the origin of said reference point and said second maximum abscissa being greater than said first minimum abscissa, each first point of the first set corresponding to a second point of the second set in that the first point and the second corresponding point have the same x-axis; - determination of the first smallest x-coordinate value (X p ) for which the absolute value of the difference between the y-coordinate of a first point and the y-coordinate of the second corresponding point is greater than a threshold value; - modification of the y-coordinate value of each second point of the second set by the addition of said difference; - determination of said data representative of the route of the road from the first points whose first abscissa is less than said first smallest x-axis value and from the second points whose second abscissa is greater than said first smallest x-axis. <EOS>