A system for autonomous driving of a vehicle , the system comprising: - an interface configured to receive data from sensors of the vehicle that include a camera and a lidar sensor ; and - a processing entity comprising at least one processor and configured to: - provide perception information, the perception information comprising a 3D environmental model of an environment of the vehicle and information about a position of the vehicle ; - generate control signals for autonomously driving the vehicle based on the 3D environmental model of the environment of the vehicle and the information about the position of the vehicle ; - characterized in that the processing entity is configured to: process the perception information to determine whether a predefined condition affecting the vehicle and independent of any other vehicles, pedestrians and other objects of interest detected in the environment of the vehicle exists, wherein the perception information is processed by detecting a pattern in the perception information indicative of the predefined condition, the pattern arising from a combination of different ones of the sensors and being undetectable from any of the different ones of the sensors individually; and, - if so, perform an action concerning the vehicle based on the predefined condition. - an interface configured to receive data from sensors of the vehicle that include a camera and a lidar sensor ; and - a processing entity comprising at least one processor and configured to: - provide perception information, the perception information comprising a 3D environmental model of an environment of the vehicle and information about a position of the vehicle ; - generate control signals for autonomously driving the vehicle based on the 3D environmental model of the environment of the vehicle and the information about the position of the vehicle ; - characterized in that the processing entity is configured to: process the perception information to determine whether a predefined condition affecting the vehicle and independent of any other vehicles, pedestrians and other objects of interest detected in the environment of the vehicle exists, wherein the perception information is processed by detecting a pattern in the perception information indicative of the predefined condition, the pattern arising from a combination of different ones of the sensors and being undetectable from any of the different ones of the sensors individually; and, - if so, perform an action concerning the vehicle based on the predefined condition. - provide perception information, the perception information comprising a 3D environmental model of an environment of the vehicle and information about a position of the vehicle ; - generate control signals for autonomously driving the vehicle based on the 3D environmental model of the environment of the vehicle and the information about the position of the vehicle ; - characterized in that the processing entity is configured to: process the perception information to determine whether a predefined condition affecting the vehicle and independent of any other vehicles, pedestrians and other objects of interest detected in the environment of the vehicle exists, wherein the perception information is processed by detecting a pattern in the perception information indicative of the predefined condition, the pattern arising from a combination of different ones of the sensors and being undetectable from any of the different ones of the sensors individually; and, - if so, perform an action concerning the vehicle based on the predefined condition. <EOS>