A computer-implemented method for closed-loop evaluation of path planning modules for a vehicle equipped with an Automated Driving System, the method comprising: obtaining a candidate path from each of a plurality of path planning modules of the ADS, wherein each path planning module is configured to generate candidate paths to be executed by the ADS of the vehicle; determining a fulfilment of one or more convergence criteria by the obtained candidate paths by comparing the obtained candidate paths with each other and determining a level of convergence between the candidate paths; in an instance where the obtained candidate paths fulfil the one or more convergence criteria: selecting one of the obtained candidate paths and controlling the vehicle so to execute the selected candidate path; evaluating each of the plurality of path planning modules based on the executed candidate path; characterized in that, in an instance where the obtained candidate paths do not fulfil the one or more convergence criteria, the computer-implemented method further comprises: determining an exposure need of each path planning module in view of a predicted scene or scenario in the surrounding environment of the vehicle that the vehicle is expected to be exposed to while executing any one of the obtained candidate paths, wherein the exposure need of each path planning module is defined by at least a predefined specification and an intended operational design domain of each path planning module; selecting one candidate path based on the determined exposure need and the determined level of convergence and controlling the vehicle so to execute the selected candidate path; evaluating the path planning module that generated the selected candidate path based on the executed candidate path. obtaining a candidate path from each of a plurality of path planning modules of the ADS, wherein each path planning module is configured to generate candidate paths to be executed by the ADS of the vehicle; determining a fulfilment of one or more convergence criteria by the obtained candidate paths by comparing the obtained candidate paths with each other and determining a level of convergence between the candidate paths; in an instance where the obtained candidate paths fulfil the one or more convergence criteria: selecting one of the obtained candidate paths and controlling the vehicle so to execute the selected candidate path; evaluating each of the plurality of path planning modules based on the executed candidate path; selecting one of the obtained candidate paths and controlling the vehicle so to execute the selected candidate path; evaluating each of the plurality of path planning modules based on the executed candidate path; characterized in that, in an instance where the obtained candidate paths do not fulfil the one or more convergence criteria, the computer-implemented method further comprises: determining an exposure need of each path planning module in view of a predicted scene or scenario in the surrounding environment of the vehicle that the vehicle is expected to be exposed to while executing any one of the obtained candidate paths, wherein the exposure need of each path planning module is defined by at least a predefined specification and an intended operational design domain of each path planning module; selecting one candidate path based on the determined exposure need and the determined level of convergence and controlling the vehicle so to execute the selected candidate path; evaluating the path planning module that generated the selected candidate path based on the executed candidate path. determining an exposure need of each path planning module in view of a predicted scene or scenario in the surrounding environment of the vehicle that the vehicle is expected to be exposed to while executing any one of the obtained candidate paths, wherein the exposure need of each path planning module is defined by at least a predefined specification and an intended operational design domain of each path planning module; selecting one candidate path based on the determined exposure need and the determined level of convergence and controlling the vehicle so to execute the selected candidate path; evaluating the path planning module that generated the selected candidate path based on the executed candidate path.