An adaptive cruise control system for a vehicle (V 0) comprising: a detection module configured for detecting one or more preceding vehicles (V 1,..., V n) driving ahead of the vehicle (V 0) and for determining a respective velocity (v 1,..., v n) and a respective distance (d 1,..., d n) of each of the detected preceding vehicles with respect to the vehicle (V 0); wherein the detection module is further configured for determining whether each of the determined distances is smaller than a respective safety distance; and a safety module connected to the detection module, wherein the safety module is configured for determining, for each preceding vehicle of at least a part of the one or more detected preceding vehicles for which the determined distance (d 1,..., d n) is smaller than the respective safety distance (sd 1,..., sd n), a respective candidate target acceleration (cta 1,..., cta n) of the vehicle (V 0), characterised in that the safety module comprises: an ICS control unit configured for determining whether the vehicle (V 0) is or will be in an inevitable collision state with respect to the corresponding preceding vehicle (V i), wherein the inevitable collision state corresponds to a state of the vehicle (V 0) in which a collision with the corresponding preceding vehicle (V i) is inevitable regardless of a modification of an acceleration of the vehicle (V 0); wherein the ICS control unit is further configured for determining the respective candidate target acceleration (cta i) corresponding to a minimal possible acceleration (a 0 min) of the vehicle if the ICS control unit determines that the vehicle is in an inevitable collision state; and an emergency control unit configured for determining the candidate target acceleration (cta;), if the ICS control unit determines that the vehicle is not in an inevitable collision state with respect to the corresponding preceding vehicle (V i), according to an emergency acceleration modification scheme, wherein the emergency acceleration modification scheme is defined for achieving the respective safety distance (sd i) within a predefined time ( t c) and/or without the acceleration of the vehicle falling below a first predefined acceleration lower limit. a detection module configured for detecting one or more preceding vehicles (V 1,..., V n) driving ahead of the vehicle (V 0) and for determining a respective velocity (v 1,..., v n) and a respective distance (d 1,..., d n) of each of the detected preceding vehicles with respect to the vehicle (V 0); wherein the detection module is further configured for determining whether each of the determined distances is smaller than a respective safety distance; and a safety module connected to the detection module, wherein the safety module is configured for determining, for each preceding vehicle of at least a part of the one or more detected preceding vehicles for which the determined distance (d 1,..., d n) is smaller than the respective safety distance (sd 1,..., sd n), a respective candidate target acceleration (cta 1,..., cta n) of the vehicle (V 0), characterised in that the safety module comprises: an ICS control unit configured for determining whether the vehicle (V 0) is or will be in an inevitable collision state with respect to the corresponding preceding vehicle (V i), wherein the inevitable collision state corresponds to a state of the vehicle (V 0) in which a collision with the corresponding preceding vehicle (V i) is inevitable regardless of a modification of an acceleration of the vehicle (V 0); wherein the ICS control unit is further configured for determining the respective candidate target acceleration (cta i) corresponding to a minimal possible acceleration (a 0 min) of the vehicle if the ICS control unit determines that the vehicle is in an inevitable collision state; and an emergency control unit configured for determining the candidate target acceleration (cta;), if the ICS control unit determines that the vehicle is not in an inevitable collision state with respect to the corresponding preceding vehicle (V i), according to an emergency acceleration modification scheme, wherein the emergency acceleration modification scheme is defined for achieving the respective safety distance (sd i) within a predefined time ( t c) and/or without the acceleration of the vehicle falling below a first predefined acceleration lower limit. an ICS control unit configured for determining whether the vehicle (V 0) is or will be in an inevitable collision state with respect to the corresponding preceding vehicle (V i), wherein the inevitable collision state corresponds to a state of the vehicle (V 0) in which a collision with the corresponding preceding vehicle (V i) is inevitable regardless of a modification of an acceleration of the vehicle (V 0); wherein the ICS control unit is further configured for determining the respective candidate target acceleration (cta i) corresponding to a minimal possible acceleration (a 0 min) of the vehicle if the ICS control unit determines that the vehicle is in an inevitable collision state; and an emergency control unit configured for determining the candidate target acceleration (cta;), if the ICS control unit determines that the vehicle is not in an inevitable collision state with respect to the corresponding preceding vehicle (V i), according to an emergency acceleration modification scheme, wherein the emergency acceleration modification scheme is defined for achieving the respective safety distance (sd i) within a predefined time ( t c) and/or without the acceleration of the vehicle falling below a first predefined acceleration lower limit.