A vehicle control system for a host vehicle, the vehicle control system comprising one or more controllers, wherein the vehicle control system is for autonomous control of the vehicle, the one or more controllers being configured to provide: a vehicle level feature layer, the vehicle level feature layer for providing one or more of driver assisting, partial autonomous, semi-autonomous, highly autonomous, fully autonomous, cruise control, speed limiter, emergency braking, lane keeping, evasive steering, semi-autonomous driving, autonomous driving, remote control driving, parking in, parking out, and automated parking; an actuator control layer configured to control a plurality of actuators; and a control layer isolating the vehicle level feature layer and the actuator control layer from each other, the control layer comprising a plurality of distinct service control channels, wherein: each of the plurality of distinct service control channels is associated with a vehicle operation; each service control channel is configured to translate vehicle level requests from the vehicle level feature layer to actuator level requests, wherein one or more actuators are assigned to the operation associated with each respective service control channel; and each service control channel is configured to receive vehicle level control requests from one or more vehicle level features and to provide control requests to the actuator control layer to control one or more associated actuators in response to a received vehicle level control request characterised in that the control layer comprises a return channel, distinct from the service control channels, and configured to provide feedback from the actuator control layer to at least one of the control layer and the vehicle level feature layer. a vehicle level feature layer, the vehicle level feature layer for providing one or more of driver assisting, partial autonomous, semi-autonomous, highly autonomous, fully autonomous, cruise control, speed limiter, emergency braking, lane keeping, evasive steering, semi-autonomous driving, autonomous driving, remote control driving, parking in, parking out, and automated parking; an actuator control layer configured to control a plurality of actuators; and a control layer isolating the vehicle level feature layer and the actuator control layer from each other, the control layer comprising a plurality of distinct service control channels, wherein: each of the plurality of distinct service control channels is associated with a vehicle operation; each service control channel is configured to translate vehicle level requests from the vehicle level feature layer to actuator level requests, wherein one or more actuators are assigned to the operation associated with each respective service control channel; and each service control channel is configured to receive vehicle level control requests from one or more vehicle level features and to provide control requests to the actuator control layer to control one or more associated actuators in response to a received vehicle level control request characterised in that the control layer comprises a return channel, distinct from the service control channels, and configured to provide feedback from the actuator control layer to at least one of the control layer and the vehicle level feature layer. each of the plurality of distinct service control channels is associated with a vehicle operation; each service control channel is configured to translate vehicle level requests from the vehicle level feature layer to actuator level requests, wherein one or more actuators are assigned to the operation associated with each respective service control channel; and each service control channel is configured to receive vehicle level control requests from one or more vehicle level features and to provide control requests to the actuator control layer to control one or more associated actuators in response to a received vehicle level control request characterised in that the control layer comprises a return channel, distinct from the service control channels, and configured to provide feedback from the actuator control layer to at least one of the control layer and the vehicle level feature layer.