The present invention relates to a system and method for route planning. The system is arranged to be mounted on a moving object. The system comprises a route planning module arranged to plan a route of the object upon request, wherein occasions of being visible from any point in the map within a shooting range during a predetermined time period is minimized. The system is characterized in that the route planning module is arranged to determine areas in the 3D map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations, and determining a re-planned route avoiding said potential threat areas.