A method comprises: a preliminary phase wherein a vehicle is aligned to be engaged toward a target position; a first phase wherein a reference trajectory is generated as a function of the status and target position of the vehicle, the status defined by the current position and orientation of the vehicle; a second phase wherein the reference trajectory being divided into sections, at the start of each section and before the vehicle begins a movement whether the reference trajectory can be followed is predicted as a function of imposed overall size constraints and estimated lateral and/or longitudinal slippages; a third phase, if the trajectory can be followed, wherein the turn angle of the wheels and the linear traction speed of the vehicle are controlled as a function of the status of the vehicle and the lateral and/or longitudinal slippages, to bring the centers of the wheels onto the reference trajectory.