Abstract: Method for improving global positioning performance of a first road vehicle (10), the method comprising, by means of a data server (3, 4, 4?): acquiring data from onboard sensors (2a, 2b, 2c, 2d, 2e, 2f, 2g) arranged on the first road vehicle (10) and on at least two neighbouring road vehicles (10?, 10?, 10??), the data comprising data on relative positions and data on heading angle and velocity of the road vehicles (10, 10?, 10?, 10??), and acquiring global positioning data of at least two of the road vehicles (10, 10?, 10?, 10??), processing (102) data comprising the global positioning data, the data, with corresponding timestamp, acquired from the onboard sensors (2a, 2b, 2c, 2d, 2e, 2f, 2g), and a motion model for each of the first road vehicle (10) and the at least two neighbouring road vehicles (10?, 10?, 10??) using a data fusion algorithm, calculating adjusted global positioning data for the first road vehicle (10) and communicating (104) the adjusted global positioning data to a positioning system (6

Abstract: Described herein is a method and system for assisting a driver of a vehicle (1) to drive with precaution. Vehicle environment monitoring sensors (3a, 3b) determines other road users and particular features associated with a traffic situation of the vehicle (1) and hypotheses are applied related to hypothetical threats that may arise based thereupon. A driver level of attention, required to handle the hypothetical threats, and a time until that level will be required is estimated. A current driver level of attention is derived, from driver-monitoring sensors (4). If determined that the estimated required driver level of attention exceeds the current and the time until the estimated driver level of attention will be required is less than a threshold-time (tthres), there is produced at least one of visual (5), acoustic (6) and haptic (7) information to a vehicle driver environment, and/or triggered at least one of automated braking (8) and steering (9) of the vehicle (1).