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 (P); 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 (P); 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 . <EOS>