Method for controlling the environment of an autonomous agricultural animal feeding machine (M), the autonomous agricultural machine (M) being able and intended to, in an autonomous manner, during an extraction run, position itself in front of the pick-up face (P1) of a pile of animal feeding product (P) in an extraction position (N) and to carry out an extraction operation on the pick-up face (P1), several extraction runs respectively forming a succession of extraction positions (N) side by side along the pick-up face (P1), the method consists, on each extraction run, in carrying out the following steps, using an environmental control system: - in an observation step: from the autonomous agricultural machine (M) in a position in front of the pick-up face (P1), preferably in one of the extraction positions (N), in observing the environment (E) of the autonomous agricultural machine (M) in front of or at the pick-up face (P1), then - in a processing step: in processing the observation data so as to detect the presence or absence of target(s) (C) and to deduce therefrom: . a positive critical detection result indicating the presence of at least one target, called a critical target (C), likely to generate an incident at and/or in front of the pick-up face (P1) during a subsequent extraction run, or a negative critical detection result indicating the absence of any critical target(s) (C), . if applicable, a positive non-critical detection result indicating the presence of at least one non-critical target (C) or a negative non-critical detection result indicating the absence of any non-critical target(s) (C), - in an information step: in making available to the remote user of the autonomous agricultural machine (M) at least one item of information on the results. - in an observation step: from the autonomous agricultural machine (M) in a position in front of the pick-up face (P1), preferably in one of the extraction positions (N), in observing the environment (E) of the autonomous agricultural machine (M) in front of or at the pick-up face (P1), then - in a processing step: in processing the observation data so as to detect the presence or absence of target(s) (C) and to deduce therefrom: . a positive critical detection result indicating the presence of at least one target, called a critical target (C), likely to generate an incident at and/or in front of the pick-up face (P1) during a subsequent extraction run, or a negative critical detection result indicating the absence of any critical target(s) (C), . if applicable, a positive non-critical detection result indicating the presence of at least one non-critical target (C) or a negative non-critical detection result indicating the absence of any non-critical target(s) (C), . a positive critical detection result indicating the presence of at least one target, called a critical target (C), likely to generate an incident at and/or in front of the pick-up face (P1) during a subsequent extraction run, or a negative critical detection result indicating the absence of any critical target(s) (C), . if applicable, a positive non-critical detection result indicating the presence of at least one non-critical target (C) or a negative non-critical detection result indicating the absence of any non-critical target(s) (C), - in an information step: in making available to the remote user of the autonomous agricultural machine (M) at least one item of information on the results. <EOS>