A vehicle (1), a vehicle system (2) and a method (100) for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system (2) comprises an autonomous drive arrangement (3) with a plurality of sensors (5), a vehicle control arrangement (8) and a positioning system (4).The vehicle system (2) is arranged to determine an estimated probability that at least one sensor (5) will become unavailable, or an estimated time/ distance ahead until at least one sensor (5) is determined to become unavailable. The vehicle system (2) is further arranged to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.