Vehicle control system and method for intention and submission gestures

There is a control system 200 and a method for a host vehicle operable in an autonomous mode. One or more controllers 202 are configured to: determine a manoeuvre requirement indicative of a required manoeuvre of the host vehicle 10; and receive environmental information in the vicinity of said host vehicle. The controllers then determine, in dependence on environment and required manoeuvre, that the manoeuvre cannot be performed while satisfying a first manoeuvring constraint, which may be an obstruction. The controller then performs an intent manoeuvre to signal to another road user its intention in dependence on a second manoeuvring constraint, which may be free space etc., only if the second manoeuvring constraint is different from the first manoeuvring constraint. The intent manoeuvre may be configured to emphasize at least one of: dive; rebound squat or weight transfer. Another embodiment of the invention may relate to a control system for a vehicle that can perform a submissive manoeuvre. The invention further relates to a method of performing the above embodiments and a computer software for performing the method.