Abstract: Described herein is a method and arrangement (1) for generating validated control commands (2) for an autonomous road vehicle (3). An end-to-end trained neural network system (4) is arranged to receive an input of raw sensor data (5) from on-board sensors (6) of the autonomous road vehicle (3) as well as object-level data (7) and tactical information data (8). The end-to-end trained neural network system (4) is further arranged to map input data (5, 7, 8) to control commands (10) for the autonomous road vehicle (3) over pre-set time horizons. A safety module (9) is arranged to receive the control commands (10) for the autonomous road vehicle (3) over the pre-set time horizons and perform risk assessment of planned trajectories resulting from the control commands (10) for the autonomous road vehicle (3) over the pre-set time horizons. The safety module (9) is further arranged to validate as safe and output validated control commands (2) for the autonomous road vehicle (3).