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A method for controlling an autonomous vehicle to repeat edly follow a same predetermined trajectory comprises: a) receiving a target trajectory signal indicative of the prede termined trajectory; b) generating a control signal adapted to steer the vehicle along the predetermined trajectory; and, for at least one of a number of iterations: c) steering the vehicle along the predetermined trajectory by feeding the control signal to the vehicle; d) measuring an actual trajectory followed by the vehicle in response to being steered accord ing to the control signal; e) recording an actual trajectory signal indicative of the measured actual trajectory; f) using an iterative learning controller to determine an altered control signal using the control signal, the actual trajectory signal and the target trajectory signal. The method allows to improve a tracking performance during a subsequent itera tion.