Method and system to decelerate a vehicle

The present invention provides a method to decelerate a vehicle (100), wherein said vehicle (100) comprises a control system and at least one braking system which may be activated by said control system, for the application of a braking force to decelerate said vehicle (100). The method comprises, when said vehicle (100) is driven at a speed exceeding a first speed ( v lim ), to estimate whether the application of a braking force is required for the speed (v) of said vehicle (100) to fall below said first speed ( v lim ) before a first period of time ( T 1 ) has expired, and - when the application of a braking force is required, to request the application of a first braking force to decelerate said vehicle. The invention also pertains to a system and a vehicle.