Adaptive cruise control system and vehicle comprising an adaptive cruise control system

An adaptive cruise control system for controlling at least one of speed or steering angle of a vehicle in relation to moving or stationary objects by accelerating, retarding or steering the vehicle, said system comprising:

• a vehicle throttle controller,
• a vehicle braking system controller,
• a steering system,
• at least one object detection sensor arranged to detect moving or stationary objects and road lanes and/or road markings in a surroundings of said vehicle, and
• a control unit configured to control a steering angle of said vehicle in relation to detected road lanes and/or road markings by controlling the steering system,
• wherein said adaptive cruise control system further comprises:
• a steering wheel arranged to allow the provision of manual steering input to the steering system of the vehicle, and
• a steering angle sensor, wherein the steering system is configured to identify a steering wheel jerk, performed as a clockwise and counter-clockwise actuation of the steering wheel within a predetermined time range, by comparing data from the steering angle sensor with at least one predetermined threshold and to steer the host vehicle from a first, current, road lane to a second road lane based on the identified jerk as indicated by the steering angle sensor.