In at least one embodiment of the present invention a driving aid system for mounting in a road vehicle is provided. The driving aid system comprises a detection system for detecting and storing profiles of characteristics of objects around the vehicle along a road on which the vehicle is being driven. A positioning system is for providing a current position of the vehicle. Profiles of characteristics of objects are stored in relation to the detected position of the vehicle. A processing arrangement compares currently detected profiles with earlier stored profiles and, if a match between a currently detected profile and an earlier stored profile is found, then the current position of the vehicle is determined relative to an object corresponding to the earlier stored profile, and the same or other earlier stored profiles is used to predict the future surroundings of the vehicle.