A driving aid arrangement configured to control at least a longitudinal velocity of a host vehicle hosting said arrangement, said arrangement comprising: - a driving environment monitoring unit configured to monitor a driving environment surrounding said host vehicle, - a tire to road friction estimation unit configured to selectively provide a first tire to road friction estimate during travel of said host vehicle, and - a velocity control unit configured to control said longitudinal velocity of said host vehicle on the basis of at least said monitored driving environment and said first tire to road friction estimate to adjust said longitudinal velocity of said host vehicle such that at least one of a shorter distance (d) to a preceding vehicle and a higher longitudinal velocity of said host vehicle is obtained when said first tire to road friction estimate indicates a high tire to road friction value than when said first tire to road friction estimate indicates a low tire to road friction value, characterised in that said velocity control unit further is configured to control said longitudinal velocity of said host vehicle on the basis of a pre-set tire to road friction value if said tire to road friction estimation unit is unable to provide said first tire to road friction estimate, wherein said pre-set tire to road friction value corresponds to said high tire to road friction value, such that the velocity control unit is configured to adjust the longitudinal velocity of the host vehicle such that at least one of a shorter distance to a preceding vehicle and a higher longitudinal velocity of the host vehicle is obtained when the tire to road friction estimation unit is unable to provide the first tire to road friction estimate, and where said driving aid arrangement further comprises an enhanced braking system comprising a braking element, an actuator and a brake control unit, where said actuator is arranged to, upon activation, position said braking element in contact with a road surface on which said host vehicle is traveling to provide an emergency braking of said host vehicle, where said brake control unit is arranged to activate said actuator upon detection of a crash threat event. - a driving environment monitoring unit configured to monitor a driving environment surrounding said host vehicle, - a tire to road friction estimation unit configured to selectively provide a first tire to road friction estimate during travel of said host vehicle, and - a velocity control unit configured to control said longitudinal velocity of said host vehicle on the basis of at least said monitored driving environment and said first tire to road friction estimate to adjust said longitudinal velocity of said host vehicle such that at least one of a shorter distance (d) to a preceding vehicle and a higher longitudinal velocity of said host vehicle is obtained when said first tire to road friction estimate indicates a high tire to road friction value than when said first tire to road friction estimate indicates a low tire to road friction value, characterised in that said velocity control unit further is configured to control said longitudinal velocity of said host vehicle on the basis of a pre-set tire to road friction value if said tire to road friction estimation unit is unable to provide said first tire to road friction estimate, wherein said pre-set tire to road friction value corresponds to said high tire to road friction value, such that the velocity control unit is configured to adjust the longitudinal velocity of the host vehicle such that at least one of a shorter distance to a preceding vehicle and a higher longitudinal velocity of the host vehicle is obtained when the tire to road friction estimation unit is unable to provide the first tire to road friction estimate, and where said driving aid arrangement further comprises an enhanced braking system comprising a braking element, an actuator and a brake control unit, where said actuator is arranged to, upon activation, position said braking element in contact with a road surface on which said host vehicle is traveling to provide an emergency braking of said host vehicle, where said brake control unit is arranged to activate said actuator upon detection of a crash threat event. characterised in that said velocity control unit further is configured to control said longitudinal velocity of said host vehicle on the basis of a pre-set tire to road friction value if said tire to road friction estimation unit is unable to provide said first tire to road friction estimate, wherein said pre-set tire to road friction value corresponds to said high tire to road friction value, such that the velocity control unit is configured to adjust the longitudinal velocity of the host vehicle such that at least one of a shorter distance to a preceding vehicle and a higher longitudinal velocity of the host vehicle is obtained when the tire to road friction estimation unit is unable to provide the first tire to road friction estimate, and where said driving aid arrangement further comprises an enhanced braking system comprising a braking element, an actuator and a brake control unit, where said actuator is arranged to, upon activation, position said braking element in contact with a road surface on which said host vehicle is traveling to provide an emergency braking of said host vehicle, where said brake control unit is arranged to activate said actuator upon detection of a crash threat event.