A method for autonomously controlling a feed mixing vehicle, a vehicle having an autonomous controller, a computer program for carrying out the method, and a control device. The vehicle has a chassis, working elements for carrying out partial tasks, scanners/sensors for transmitting data, and a computer for controlling all the processes. The scanners/sensors acquire spatial data of the surroundings and generate therefrom a 3D map of the current geometry of the surroundings. The current geometry of the surroundings is placed in relationship with an area that is released to be traveled on by the autonomous vehicle, with the result that the navigability of the travel path of the autonomous vehicle is checked, and in the case of detected non-navigability the travel path is adapted autonomously to the requirements of the situational spatial surroundings and is replaced by an alternative travel path.