A method of curve speed adjustment for a road vehicle, comprising: obtaining current ego velocity (v E) data of the road vehicle; obtaining distance (d) and curvature value (r) data of an upcoming road segment represented by a set of control points (P n, P n+1, etc.) to be negotiated by the road vehicle; obtaining road property data of a road comprising the road segment to be negotiated; obtaining environmental property data of the road vehicle environ; obtaining driver property data of the road vehicle driver; continuously streaming the obtained data to a data processing arrangement arranged to process the data; evaluating, by the data processing arrangement, the obtained data to perform a translation to target velocities (v road) for the respective control points; performing, by the data processing arrangement, for each respective control point (P n, P n+1, etc.) a translation from target velocity (v road, n, v road, n+1, etc.) for that control point (P n, P n+1, etc.) and distance (d n, d n+1, etc.) to that control point (P n, P n+1, etc.) and obtained current ego velocity (v E) of the road vehicle, to a target acceleration (a n, a n+1, etc.) to reach that control point (P n, P n+1, etc.) at the target velocity (v road, n, v road, n+1, etc.) for that control point (P n, P n+1, etc.); continuously streaming the resulting target accelerations (a n, a n+1, etc.) for the respective control points (P n, P n+1, etc.) to a control unit of the road vehicle; adjusting, by the control unit, the road vehicle acceleration to reach each respective control point (P n, P n+1, etc.) at the target velocity (v road, n, v road, n+1, etc.) for that control point (P n, P n+1, etc.) characterized in that the data processing arrangement is arranged at a location remote from the vehicle. obtaining current ego velocity (v E) data of the road vehicle; obtaining distance (d) and curvature value (r) data of an upcoming road segment represented by a set of control points (P n, P n+1, etc.) to be negotiated by the road vehicle; obtaining road property data of a road comprising the road segment to be negotiated; obtaining environmental property data of the road vehicle environ; obtaining driver property data of the road vehicle driver; continuously streaming the obtained data to a data processing arrangement arranged to process the data; evaluating, by the data processing arrangement, the obtained data to perform a translation to target velocities (v road) for the respective control points; performing, by the data processing arrangement, for each respective control point (P n, P n+1, etc.) a translation from target velocity (v road, n, v road, n+1, etc.) for that control point (P n, P n+1, etc.) and distance (d n, d n+1, etc.) to that control point (P n, P n+1, etc.) and obtained current ego velocity (v E) of the road vehicle, to a target acceleration (a n, a n+1, etc.) to reach that control point (P n, P n+1, etc.) at the target velocity (v road, n, v road, n+1, etc.) for that control point (P n, P n+1, etc.); continuously streaming the resulting target accelerations (a n, a n+1, etc.) for the respective control points (P n, P n+1, etc.) to a control unit of the road vehicle; adjusting, by the control unit, the road vehicle acceleration to reach each respective control point (P n, P n+1, etc.) at the target velocity (v road, n, v road, n+1, etc.) for that control point (P n, P n+1, etc.) characterized in that the data processing arrangement is arranged at a location remote from the vehicle.