The invention relates to a method (100) for controlling a soil working means, based on an image processing. Such a soil working means comprises a locomotion member (201) and a working member (202). The method comprises the steps of: acquiring (101) at least one digital image of the soil by means of digital image acquisition means (203) installed on the working means; processing (102), by means of an electronic processing unit (204), the at least one digital image acquired by performing at least one convolution operation on the digital image by means of a trained neural network (300; 400; 500); obtaining (103), by means of the electronic processing unit, at least one synthetic soil descriptor based on such a processing; - generating (104), by means of the electronic processing unit, at least one control signal of the locomotion member or of the working member based on the synthetic soil descriptor.
