The invention relates to a method for guiding a vehicle (1) during reversing along a desired travelling path (TP), wherein the guiding is based on a lateral offset (y) between a preview point (P) located at a preview distance (Pd) behind the vehicle (1) and the desired travelling path (TP), the method comprising:



determining (S1) a curvature of the desired travelling path (TP) behind the vehicle (1);
adaptively adjusting (S2) the preview distance (Pd) in dependence on the determined curvature, thereby adaptively adjusting the preview point (P); and
guiding (S3) the vehicle (1) along the desired travelling path (TP) by use of the lateral offset (y) between the adjusted preview point (P) and the desired travelling path (TP). The present invention further relates to a control unit (100), to a vehicle (1), to a computer program and to a computer readable medium.