DRIVING AID ARRANGEMENT, A VEHICLE AND A METHOD OF CONTROLLING A LONGITUDINAL VELOCITY OF A VEHICE

A driving aid arrangement (1) is provided configured to control a longitudinal velocity of a host vehicle (3). The arrangement (1) comprises a driving environment monitoring unit (5), a road friction estimation unit (11) configured to provide a road friction estimate, and a velocity control unit (13) configured to control the velocity of the host vehicle (3) on the basis of the monitored driving environment (7) and the road friction estimate. The velocity control unit (13) further is configured to control the velocity of the host vehicle (3) on the basis of a pre-set road friction value, corresponding to a high road friction value, if the road friction estimation unit (11) is unable to provide the road friction estimate. The driving aid arrangement (1) further comprises an enhanced braking system (15) arranged to provide an emergency braking of the vehicle (3) upon detection of a crash threat event. The present disclosure also relates to vehicle (3) and a method (100) of controlling a longitudinal velocity of a vehicle (3).