Control system for a vehicle

A method of determining a vehicle path comprising:

• obtaining image data relating to terrain to be traversed by the vehicle, and for each of a plurality of sub-regions of the image data:
• determining probability data relating to whether the respective sub-region relates to a path region or a non-path region of the terrain;
• and
• determining a cost for the vehicle to traverse a portion of the terrain to which the sub-region relates depending on the probability data meeting one or more path probability criteria indicating that the sub-region relates to the path region, one or more non-path probability criteria indicating that the sub-region relates to the non-path region or neither one or more path probability criteria nor one or more non-path probability criteria;
• determining a vehicle path in dependence on the determined costs or outputting determined costs in dependence on which a vehicle path can be determined;
• and
• controlling the vehicle in dependence on the determined vehicle path and/or provide an audio and/or visual output representative of the determined path;
• wherein the control system is configured to, for each of the said sub-regions, determine a different cost for the respective sub-region depending on whether the probability data meets one or more path probability criteria, one or more non-path probability criteria or neither the path probability criteria nor the non-path probability criteria, the determined cost being selected from at least a first cost when the probability data meets one or more path probability criteria, a second cost when the probability data meets one or more non-path probability criteria and a third cost when the probability data meets neither the path probability criteria nor the non-path probability criteria.