Extend the twentyten dropdown menu with jQuery with a delay onmouseout

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The solution was very simple! Just use Superfish.js as instructed on http://users.tpg.com.au/j_birch/plugins/superfish/#getting-started

Be sure to include superfish, hoverIntent and jQuery in your wordpress.
In your custom js script file, something like this works like a charm:

$('ul#theidofyourmenu').superfish({
  delay:         600,   // This will fire up the hoverIntent
  autoArrows:    false  // Disable this if you don't want arrows on toplevel nav links
});

Thanks to @pixeline for his hint on using Superfish.js