Control system for a vehicle

A control system comprising at least one controller being configured to obtain, via a camera system 185c, image data relating to terrain to be traversed by a vehicle (100, fig 1). For each of a plurality of sub-regions of the image data determine probability data relating to whether the respective sub-region relates to a path region or a non-path region of the terrain which may be in shadow. Determine 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 the path probability criteria nor the non-path probability criteria and determining a vehicle path in dependence on the determined costs. Reference is also mad to a vehicle, a method and to a computer readable medium comprising computer readable instructions that, when executed by a processor, cause performance of the method.