Vehicle localization

A vehicle comprising a control system, the vehicle comprising a first sensor arrangement disposed at a first orientation relative to the host vehicle and at least one secondary sensor arrangement, each additional sensor arrangement being disposed at an orientation relative to the host vehicle that is different to the first orientation, the control system having one or more controllers configured to:

• receive first sensor information from the first sensor arrangement;
• receive secondary sensor information from each additional sensor arrangement;
• determine a lateral position of the vehicle relative to a roadway using the additional sensor information if all or part of the first sensor information is interrupted;
• and
• provide an output in dependence on the determined lateral position;
• wherein each sensor arrangement comprises a primary sensor which is part of a primary sensor system and a secondary sensor which is part of a secondary sensor system;
• and
• wherein a primary power supply is provided to power the primary sensor of both the first and each additional sensor arrangement, and a secondary power supply is provided to power the secondary sensor of both the first and each additional sensor arrangement, wherein the primary power supply and the secondary power supply are independent of each other such that the primary power supply does not supply power to the secondary sensor system and the secondary power supply does not supply power to the primary sensor system.