A guidance method and system is provided for automatically steering a guided vehicle (10) which is movable along a planned path (12) between adjacent crop rows (14,16). The method includes generating a left crop position signal with a left crop sensor (18) on a left side of the vehicle (10), generating a right crop position signal with a right crop sensor (20) on a right side of the vehicle (10), and generating a vehicle position signal with a vehicle position sensor unit (34). The method also includes generating a difference position signal by subtracting one of the left and right crop position signals from the other of the left and right crop position signals, and converting the difference position signal into a time-varying lateral offset signal. The method also includes offsetting the planned path (12) by the time-varying lateral offset signal, and guiding the vehicle (10) as a function of the offset planned path.
