The objective of this research was to identify the advantages of using all degrees of freedom of four-wheel steered vehicles for headland turning compared to the current manual control using only two degrees of freedom, often further limited by coupling the front and rear wheels in a fixed relation. Headland turning with coupled front and rear wheels was simulated and compared with turning exploiting the full degrees of freedom, based on a newly developed practical method for path following control applicable for any four-wheel-steered vehicle. This method enables the user to define the vehicle control point as a position in the coordinate system attached to the vehicle, which was set to the implement position. The path following control consists of a method that inverts the kinematic model of the four-wheel steered vehicle, into a very simple model. For this simple model two P controllers are designed. The tuning of the P-controller is simple and straightforward. In terms of implementation, the kinematic model inversion can just be seen as a general applicable software module that can be set according to the vehicles' parameters. Simulation of a self-propelled four-wheel steered vehicle available on the market showed that using all degrees of freedom for turning at the headland in stead of using front and rear wheel opposite steering can reduce both the headland space needed as well as the time required for turning. The required time for turning was reduced with 10 percent, from 30 s to 27 s, while the space for headland turning was reduced by 24 percent from 17.8 to 13.5 m. A figure and video showing path following results with the method implemented on the Intelligent Autonomous Weeder platform of Wageningen University substantiate the performance and practical applicability.