The invention relates to a method for controlling a subject vehicle (1) travelling along a road behind a vehicle transmitting wireless signals representative of at least one parameter affecting the velocity and/or acceleration of the transmitting vehicle (2), the method comprising—receiving said wireless signals from the transmitting vehicle (2), —controlling (S6) the velocity and/or acceleration of the subject vehicle (1) in dependence on the received signals, —during said control (S6) in dependence on the received signals, monitoring (S3) by means (111) other than means for wireless communication a distance (DSF) between the subject vehicle (1) and a further vehicle (3) travelling between the subject vehicle (1) and the transmitting vehicle (2), —and determining in dependence on the monitoring of the distance (DSF) between the subject vehicle (1) and the further vehicle (3) whether or not to control (S5) the velocity and/or acceleration of the subject vehicle (1) in dependence on the monitored distance (DSF).