The invention relates to a control system for an autonomous vehicle, a method and an autonomous vehicle. The system comprises an image capturing means capable of capturing at least a first image of the environment of the vehicle and a second image of the environment, wherein the images are captured in a close time relationship but with different image capturing parameters. A processing means configured to obtain and process the images captured with different image capturing parameters separately and taking into consideration a first intensity threshold when processing the first image and a second, different intensity threshold when processing the second image. A control means for generating and outputting a control signal on the basis of a result of the at least one of the processed images.