Abstract: Method of autonomous path planning for a vehicle, comprising the steps of a) determining an outer boundary (2) and an inner boundary (4) of a working area (1a) for a vehicle to operate on, b) providing a direction parameter indicating a primary working direction (6) along which the working area (1a) is to be worked on; c) providing an angle parameter indicating an angle (a) between a secondary working direction (8) and the primary working direction (6), wherein the secondary working direction (8) indicates a direction along which a plurality of working paths (10) are to be arranged within the inner boundary (4). The method further comprising the steps of d) calculating the plurality of working paths (10) within the inner boundary (4) based on the direction parameter and the angle parameter; and e) further calculating one or more connecting paths (16) between the outer boundary (2) and the inner boundary (4), each connecting path connecting two subsequent working paths (10).