A driver intention estimation arrangement is provided to estimate a level of overtaking intention of a driver of a vehicle hosting the arrangement. The arrangement includes a driver eye monitoring unit configured to monitor a gaze direction (g) of at least one eye of the driver, and a processing unit configured to analyze the gaze direction (g). The processing unit is configured to estimate the level of overtaking intention on the basis of the gaze direction (g). A forward collision warning system, an autonomous brake system, a vehicle, and a method of estimating a level of overtaking intention of a host vehicle driver are also provided.