Abstract: Embodiments of the present invention provide a control system (100). The control system (100) is for a host vehicle (10) operable in an autonomous mode and a non-autonomous mode. The control system (100) comprises one or more controllers (110). The control system (100) is configured to receive, when operating in a non-autonomous mode, a mode signal and environment data. The mode signal is indicative of the host vehicle (10) operating in a training mode. The environment data is indicative of a sensed environment of the host vehicle (10) during a first manoeuvre by the host vehicle (10) from a first location to a first navigation goal. In the training mode, the one or more controllers (110) identify a navigable area and output vehicle control data. The navigable area is in a vicinity of the first manoeuvre and is suitable to contain a plurality of possible navigation paths for subsequent navigation of the host vehicle (10), operating in an autonomous mode, to a second navigation goal within the navigable area.