A computer implemented method for forming a local navigation path for a segment of a path to be travelled by an autonomous vehicle , the segment being one of a plurality of segments comprised with a global navigation path, the method comprising the steps of: - receiving (S1) sensor data, wherein the sensor data includes information about an area in a driving direction of and in the vicinity of the vehicle , and - providing (S3) a plurality of obstacle avoidance modules , each obstacle avoidance module adapted to detect a specific type of obstacle based on the sensor data, wherein an obstacle calculation module is provided for each of the plurality of obstacle avoidance modules , and each obstacle calculation module is adapted to generate a resulting obstacle calculation based on the sensor data if the specific obstacle type is detected, characterized in that the method further comprises the steps of: - providing (S2) a plurality of path detection modules , each path detection module adapted to detect a specific type of path condition based on the sensor data, wherein the specific type of path condition is at least one of a crossroad, a meeting place, a junction, an uphill section, a downhill section, a left or a right turn, wherein a path calculation module is provided for each of the plurality of path detection modules , and each path calculation module is adapted to generate a resulting path calculation based on the sensor data if the specific path condition is detected, - activating (S4) the plurality of path detection modules and the plurality of obstacle detection modules , - combining (S5) resulting path calculations and obstacle calculations, and - forming (S6) the local navigation path based on a result of the combination. - receiving (S1) sensor data, wherein the sensor data includes information about an area in a driving direction of and in the vicinity of the vehicle , and - providing (S3) a plurality of obstacle avoidance modules , each obstacle avoidance module adapted to detect a specific type of obstacle based on the sensor data, wherein an obstacle calculation module is provided for each of the plurality of obstacle avoidance modules , and each obstacle calculation module is adapted to generate a resulting obstacle calculation based on the sensor data if the specific obstacle type is detected, - providing (S2) a plurality of path detection modules , each path detection module adapted to detect a specific type of path condition based on the sensor data, wherein the specific type of path condition is at least one of a crossroad, a meeting place, a junction, an uphill section, a downhill section, a left or a right turn, wherein a path calculation module is provided for each of the plurality of path detection modules , and each path calculation module is adapted to generate a resulting path calculation based on the sensor data if the specific path condition is detected, - activating (S4) the plurality of path detection modules and the plurality of obstacle detection modules , - combining (S5) resulting path calculations and obstacle calculations, and - forming (S6) the local navigation path based on a result of the combination. <EOS>