A method of training a neural network using human driving behaviour based on data related to manually operated vehicles having attempted to engage in a traffic manoeuvre. Method comprising; receiving a dataset that describes the behaviour of a plurality of manually operated vehicles each having attempted a traffic manoeuvre, wherein the dataset includes a plurality of entries and decisions taken by the human drivers (2405). Each dataset has a plurality of fields for the plurality of factors relating to the human driving manoeuvres, retrieves them and identifies the data types (2410 & 2415). Using the fields identify a plurality of characteristics associated with a manoeuvre (2420) and configure a neural network using the data types and characteristics (2425) and use this data to execute a training routine for the neural network (2430 & 2435).
Data driven rule books