A vehicle comprising a working equipment , said vehicle further comprises: - a sensor system configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data representing an area at least partly surrounding the vehicle , wherein said sensor system is further configured to determine ambient condition data , and wherein said ambient condition data comprises at least a ground surface parameter, e.g. a friction value, of the ground surface at the current position of the vehicle , - a vehicle data unit configured to determine vehicle data representing characteristics of the vehicle , - a control unit configured to receive said image data , said ambient condition data , and said vehicle data , and to determine and generate control signals for controlling said vehicle , wherein said control signals comprise driving instructions, - the control unit is configured to receive a working task to be performed by the vehicle, wherein said working task includes information of an object for the vehicle to reach when performing said working task, - determine a target position , being a position based on the location of the object to reach when performing said working task in said image data representation, in relation to said vehicle , - calculate at least a first path from the vehicle to the target position by applying a set of path calculation rules, characterized in that said control unit is further configured to: - determine driving instructions such that said vehicle is controlled to follow said at least first path , wherein said driving instructions are determined in dependence of said image data , ambient condition data , and vehicle data , by applying a set of path following rules, wherein one path following rule comprises using said ground surface parameter. - a sensor system configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data representing an area at least partly surrounding the vehicle , wherein said sensor system is further configured to determine ambient condition data , and wherein said ambient condition data comprises at least a ground surface parameter, e.g. a friction value, of the ground surface at the current position of the vehicle , - a vehicle data unit configured to determine vehicle data representing characteristics of the vehicle , - a control unit configured to receive said image data , said ambient condition data , and said vehicle data , and to determine and generate control signals for controlling said vehicle , wherein said control signals comprise driving instructions, - the control unit is configured to receive a working task to be performed by the vehicle, wherein said working task includes information of an object for the vehicle to reach when performing said working task, - determine a target position , being a position based on the location of the object to reach when performing said working task in said image data representation, in relation to said vehicle , - calculate at least a first path from the vehicle to the target position by applying a set of path calculation rules, characterized in that said control unit is further configured to: - determine driving instructions such that said vehicle is controlled to follow said at least first path , wherein said driving instructions are determined in dependence of said image data , ambient condition data , and vehicle data , by applying a set of path following rules, wherein one path following rule comprises using said ground surface parameter. - determine driving instructions such that said vehicle is controlled to follow said at least first path , wherein said driving instructions are determined in dependence of said image data , ambient condition data , and vehicle data , by applying a set of path following rules, wherein one path following rule comprises using said ground surface parameter. <EOS>