A vehicle (1), a method (100) and a vehicle system (2) for control of vehicle safety parameters (3) is provided. The system (2) is arranged to determine a closing velocity between a host vehicle exterior portion (9) and an external object (4) in a road environment where the host vehicle (1) and the external object (4) approaches each other. The system (2) comprises image capturing means (5), processing means (10) and a sensor arrangement (11). The processing means (10) are arranged to determine the closing velocity for each time instance by forming a quotient of a distance between a first position (7) and the host vehicle exterior portion (9) and the estimated time to collision (TTI) between the first position (7) and the external object (4). The vehicle system (2) is arranged to control the one or more vehicle safety parameters (3) as a function of the determined closing velocity.