A computer implemented method of autonomously maneuvering a vehicle during a point-turn, the method being characterised in that it comprises the following steps: operating a scanning device from onboard the vehicle for scanning an area around the vehicle in a plurality of directions and generating real-time scanning output data; operating a processing unit comprising at least one processing circuitry operatively connected to the scanning device, for: generating, based on the real-time scanning output data, a range map including K set(s) of real-time range values, wherein K ≥ 1; each set comprising a plurality of real-time range values, each range value in the set is determined from a given rotation-point of the vehicle towards a certain direction; each set of real-time range values having a corresponding set comprising a plurality of vehicle-contour range values; each vehicle-contour range value in the corresponding set is determined from the given rotation-point to a perimeter of the vehicle in a respective direction; for each set of the K sets: determining differences between real-time range values in the set and corresponding vehicle-contour range values in a corresponding set; determining, based on the differences, conditions for executing a point-turn that avoids collision with nearby objects; and generating a point-turn command for causing the vehicle to execute a point-turn according to the point-turn conditions. operating a scanning device from onboard the vehicle for scanning an area around the vehicle in a plurality of directions and generating real-time scanning output data; operating a processing unit comprising at least one processing circuitry operatively connected to the scanning device, for: generating, based on the real-time scanning output data, a range map including K set(s) of real-time range values, wherein K ≥ 1; each set comprising a plurality of real-time range values, each range value in the set is determined from a given rotation-point of the vehicle towards a certain direction; each set of real-time range values having a corresponding set comprising a plurality of vehicle-contour range values; each vehicle-contour range value in the corresponding set is determined from the given rotation-point to a perimeter of the vehicle in a respective direction; for each set of the K sets: determining differences between real-time range values in the set and corresponding vehicle-contour range values in a corresponding set; determining, based on the differences, conditions for executing a point-turn that avoids collision with nearby objects; and generating a point-turn command for causing the vehicle to execute a point-turn according to the point-turn conditions. generating, based on the real-time scanning output data, a range map including K set(s) of real-time range values, wherein K ≥ 1; each set comprising a plurality of real-time range values, each range value in the set is determined from a given rotation-point of the vehicle towards a certain direction; each set of real-time range values having a corresponding set comprising a plurality of vehicle-contour range values; each vehicle-contour range value in the corresponding set is determined from the given rotation-point to a perimeter of the vehicle in a respective direction; for each set of the K sets: determining differences between real-time range values in the set and corresponding vehicle-contour range values in a corresponding set; determining, based on the differences, conditions for executing a point-turn that avoids collision with nearby objects; and determining differences between real-time range values in the set and corresponding vehicle-contour range values in a corresponding set; determining, based on the differences, conditions for executing a point-turn that avoids collision with nearby objects; and generating a point-turn command for causing the vehicle to execute a point-turn according to the point-turn conditions. <EOS>