The invention relates to a method for controlling the steering angle β of the guiding wheels of a vehicle (1) consisting of a tow truck (2) and a trailer (8) hinged with respect thereto. The inventive method makes it possible to produce an instruction β0 usable by an actuator acting on the steering angle β. The inventive method used during a reverse running consists in selecting a target point (C), which the vehicle path should pass through, in determining the instruction for an angle θc between the axes of the truck and trailer according to said target point (C) and the vehicle geometry and in controlling the steering angle β of the guiding wheels according to a close-loop control for slacking the measured steering angle ? between the truck and trailer axes towards the instruction value of the angle θc.