This control device (50) is for a vehicle adapted for treating a field (2) along a predetermined swath path (8), the swath path comprising a first (10) and a second lane (12), the second lane comprising a lane beginning (14) defining a beginning pose (BP) of the vehicle. The beginning pose (BP) of the vehicle is the pose of the vehicle for ideally treating the second lane from the lane beginning. The control device is adapted to gather information about the first lane during treatment of the first lane by the vehicle； and the control device (50) comprises a target path generator device (52) adapted for generating a target path (56) for steering the vehicle to the beginning pose based on information about the first lane.Application to agricultural vehicles.
