The present invention relates to a method for entering a preceding vehicle autonomous following mode, and an arrangement for entering and operating a preceding vehicle autonomous following mode comprising the steps of registering and identifying at least one preceding vehicle (1) in front of a host vehicle (2) by means of at least a first and a second sensor device (3, 4). Comparing said at least one preceding vehicle (1) with vehicle data in a remote database system (5), and upon match establishing a communication channel (7, 8, 9) between said at least one preceding vehicle (1) and said host vehicle (2). Identifying to an operator (6) of said host vehicle (2) preceding vehicles (1 ) with which said communication channel (7, 8, 9) has been established, and obtaining from said operator (6) a selection of a target vehicle to engage following of. Finally, engaging autonomous following mode of said target vehicle, wherein a vehicle control system (10) automatically controls at least the following three main functions of said host vehicle (2): forward propulsion (11), steering (12), and braking (13).