Control arrangement arranged to control an autonomous vehicle, autonomous drive arrangement, vehicle and method

A vehicle (100), a method (300), a control arrangement (1) and an autonomous drive arrangement (3) are provided. The control arrangement (1) is arranged to control the autonomous host vehicle drive arrangement (3) in a host vehicle (100) comprising; the autonomous drive arrangement (3) which is arranged to control steering and velocity of the host vehicle (100) up to an autonomous drive maximum velocity of the host vehicle (100), a speed limit determination unit (7), a communication unit (9) arranged to receive, from at least one external source (15a, 15b, 15c), real time preceding vehicle velocity (v', v") for one or more preceding vehicles (14). The control arrangement (1) is arranged to control the autonomous drive arrangement (3) in dependence of a difference between the autonomous drive maximum velocity and at least one of; a speed limit and at least one preceding vehicle velocity (v', v").