VEHICLE SAFETY ASSIST SYSTEM, VEHICLE COMPRISING A VEHICLE SAFETY ASSIST SYSTEM AND A METHOD FOR PROVIDING DRIVER WARNING OR PERFORMING AUTONOMOUS BRAKING

A vehicle (10), a method (100) and a vehicle safety assist system (1) are provided. The vehicle safety assist system (1) comprises long range sensors (3) arranged to determine vehicles (A, B) travelling within a sensor coverage area (110) ahead of the host vehicle (10). A sensor information processor (5) is arranged to determine if the host vehicle (10) is travelling above at least one predetermined threshold velocity and if a relative deceleration of at least one determined vehicle (A, B) is above at least one predetermined threshold deceleration and to determine the strength or confidence of this determination. A driver warning and brake control system (7) is arranged to provide a driver warning or perform autonomous braking in response to instructions from the sensor information processor (5) based on the above determinations.