Concepts for generating navigation instructions for a driver of a vehicle are presented. One example, includes obtaining a current location of the vehicle, a route for the vehicle from the current location to a target destination, and a captured image of the surrounding environment of the vehicle, the image having a field of view comprising at least part of a field of view of the driver. An object is identified in the captured image. Navigation instructions for the driver are generated based on the current location of the vehicle, the route for the vehicle and the object identified in the captured image.