The invention relates to a control system (18) for a vehicle (10) comprising an autonomous emergency braking system (16), characterized in that the control system comprises: brake control means (26) adapted to apply a friction-estimating braking when the autonomous emergency braking system has initiated a possible intervention; brake force capacity estimation means (28) adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; road information means (30) adapted to obtain information about road curvature ahead of the vehicle; lateral tyre force prediction means (32) adapted to predict lateral tyre force needed during autonomous emergency braking based on the obtained information about road curvature; and brake strategy adaptation means (34) configured to adapt the brake strategy of the autonomous emergency braking system based on the estimated brake force capacity and the predicted lateral tyre force needed.