A method for a follower vehicle following a lead vehicle, comprising - determining a position (PL) and a heading (HL) of the lead vehicle , - determining a position (PF) and a heading (HF) of the follower vehicle , - subsequently establishing a path for the follower vehicle by fitting a curve (C1) to said positions (PL, PF) and said headings (HL, HF), - and controlling the follower vehicle so as to move along the established path, wherein said path is established in a first control mode of the follower vehicle , - the method further comprising generating operational data which is at least partly related to the operation of the lead vehicle, - and determining based on the operational data whether to control the follower vehicle in the first mode or in a second mode, - the second mode comprising - determining a plurality of positions (PL, PLt-1, PLt-2 ..) of the lead vehicle as the lead vehicle moves, - and establishing a path for the follower vehicle by fitting a curve (C2) to at least some of the plurality of lead vehicle positions (PL, PLt-1, PLt-2 ..), characterized in that the operational data includes at least one of surroundings data, regarding the surroundings of the lead vehicle and/or the follower vehicle , road data, including one or more features of a road on which the vehicles are travelling, and lead vehicle driver data, regarding lead vehicle control actions initiated by a driver of the lead vehicle , and if the road data and/or the surroundings data indicate that the follower vehicle is in a relatively narrow situation, such as in a roundabout, a motorway exit, or a sharp curve, on a narrow and/or curvy road, such as a rural road, it is determined to control the follower vehicle in the second mode. - determining a position (PL) and a heading (HL) of the lead vehicle , - determining a position (PF) and a heading (HF) of the follower vehicle , - subsequently establishing a path for the follower vehicle by fitting a curve (C1) to said positions (PL, PF) and said headings (HL, HF), - and controlling the follower vehicle so as to move along the established path, wherein said path is established in a first control mode of the follower vehicle , - the method further comprising generating operational data which is at least partly related to the operation of the lead vehicle, - and determining based on the operational data whether to control the follower vehicle in the first mode or in a second mode, - the second mode comprising - determining a plurality of positions (PL, PLt-1, PLt-2 ..) of the lead vehicle as the lead vehicle moves, - and establishing a path for the follower vehicle by fitting a curve (C2) to at least some of the plurality of lead vehicle positions (PL, PLt-1, PLt-2 ..), characterized in that the operational data includes at least one of surroundings data, regarding the surroundings of the lead vehicle and/or the follower vehicle , road data, including one or more features of a road on which the vehicles are travelling, and lead vehicle driver data, regarding lead vehicle control actions initiated by a driver of the lead vehicle , and if the road data and/or the surroundings data indicate that the follower vehicle is in a relatively narrow situation, such as in a roundabout, a motorway exit, or a sharp curve, on a narrow and/or curvy road, such as a rural road, it is determined to control the follower vehicle in the second mode. <EOS>