A control system, system and method for providing assistance to an occupant of a vehicle

A control system (10 see fig 1), a system (30 see fig 1) and a method (100 see fig 3) are provided for assisting an occupant of a vehicle (50 see fig 2). The control system (10) receives data indicative of topography of a surface (36 see figs 6a-d) within an environment. A vehicle trajectory is determined in dependence on vehicle parameters for use in a composite image sequence comprising image frames 32 each comprising a captured image and a trajectory indicator 40, 42 indicative of the determined vehicle trajectory for display to an occupant. The trajectory indicator 40,42 is displayed within the image sequence in dependence on the topography data. The invention avoids an unnatural sense of trajectory lines not being closely associated with the topography of the ground surface 36.