An automatic steering system for a work vehicle comprises a position sensor for detecting a position of the vehicle, a memory for storing information about a nominal path of the vehicle and a control unit coupled to the position sensor, to the memory and to a steering actuator for steering the vehicle. The control submits control signals to the steering actuator that depend upon a feedback gain and a lateral offset between the actual position and the nominal path. The feedback gain depends upon a sensed payload of the vehicle.
