A method performed by an in-vehicle computing system for automated development of a path planning development-module of a vehicle, wherein the vehicle is equipped with an Automated Driving System, ADS, the method comprising: obtaining a candidate path from the path planning development-module, wherein the path planning development-module is configured to generate the candidate path for execution by the vehicle based on a path planning model and data indicative of the surrounding environment of the vehicle; obtaining a risk map of a surrounding environment of the vehicle, wherein the risk map is formed based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas; wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle; wherein the risk map further has a temporal component indicative of a time evolution of the risk parameters of the area segments based on a predicted temporal evolution of the free-space areas for at least a duration of time defined by a predicted duration of the candidate path; determining a risk value for the candidate path based on the risk parameters of the area segments to be intersected by the candidate path; if the determined risk value satisfies at least one risk criterion, the method further comprises: generating, at an output, a first control signal indicative of an instruction for the ADS to execute the candidate path; obtaining at least one quality parameter of the executed candidate path, wherein the at least one quality parameter is indicative of a performance of the candidate path in terms of quality and/or comfort of the executed candidate path; determining a cost function indicative of a performance of the path planning development-module based on the obtained at least one quality parameter; updating one or more parameters of the path planning model by means of an optimization algorithm configured to optimize the determined cost function. obtaining a candidate path from the path planning development-module, wherein the path planning development-module is configured to generate the candidate path for execution by the vehicle based on a path planning model and data indicative of the surrounding environment of the vehicle; obtaining a risk map of a surrounding environment of the vehicle, wherein the risk map is formed based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas; wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle; wherein the risk map further has a temporal component indicative of a time evolution of the risk parameters of the area segments based on a predicted temporal evolution of the free-space areas for at least a duration of time defined by a predicted duration of the candidate path; determining a risk value for the candidate path based on the risk parameters of the area segments to be intersected by the candidate path; if the determined risk value satisfies at least one risk criterion, the method further comprises: generating, at an output, a first control signal indicative of an instruction for the ADS to execute the candidate path; obtaining at least one quality parameter of the executed candidate path, wherein the at least one quality parameter is indicative of a performance of the candidate path in terms of quality and/or comfort of the executed candidate path; determining a cost function indicative of a performance of the path planning development-module based on the obtained at least one quality parameter; updating one or more parameters of the path planning model by means of an optimization algorithm configured to optimize the determined cost function. generating, at an output, a first control signal indicative of an instruction for the ADS to execute the candidate path; obtaining at least one quality parameter of the executed candidate path, wherein the at least one quality parameter is indicative of a performance of the candidate path in terms of quality and/or comfort of the executed candidate path; determining a cost function indicative of a performance of the path planning development-module based on the obtained at least one quality parameter; updating one or more parameters of the path planning model by means of an optimization algorithm configured to optimize the determined cost function.