Path identification for off-road cruise control

The present invention provide a system 10, 19, 185C for a vehicle, the system comprising a processing means 10, 19 arranged to receive, from terrain data capture means 185C arranged to capture data in respect of terrain ahead of the vehicle by means of one or more sensors. The terrain information is indicative of the topography of an area extending ahead of the vehicle and comprises data defining at least one 2D image of the terrain ahead of the vehicle, wherein the processing means 10,19 is configured to: perform a segmentation operation on image data defining one said at least one 2D image and identify in the image data edges of a predicted path of the vehicle, calculate a 3D point cloud dataset in respect of the terrain ahead of the vehicle based on the terrain information, determine the 3D coordinates of edges of the predicted path of the vehicle by reference to the point cloud dataset and based on the coordinates of edges of the predicted path identified in the 2D image determine a 3D predicted path of the vehicle and output a signal in dependence at least in part on the 3D predicted path. It may also include generation, prior to segmentation, of colour and texture information for each pixel of the image apart from those defining the border of the image.