Abstract: A method for assisting the driving of a vehicle (V) on a road (R) having a portion (PV) with mandatory passing zones (ZP11-ZP22), wherein the vehicle (V) is capable to communicate by over-the-air waves and to be driven autonomously. The method comprises a step where, when the vehicle (V) reaches the vicinity of the portion of the road, the vehicle's relative position with respect to a predefined location of at least one mandatory passing zone (ZP21) is determined, then a path to follow passing through a mandatory passing zone (ZP21) is determined as a function of mapping information defining the mandatory passing zones, traffic information in the mandatory passing zones and the determined relative position of the vehicle, and then the driving of the vehicle (V) is controlled so that it takes this path to follow.