Adaptive cruise control

(canceled)

A computer program embodied on non-transitory computer-readable storage, comprising computer executable instructions configured, when executed, to implement an adaptive cruise control method for autonomously adapting the speed of an ego vehicle to maintain a target headway, headway being distance from the ego vehicle to a forward vehicle, the ego vehicle equipped with a perception system for measuring a current headway and a current speed and acceleration of the forward vehicle relative to the ego vehicle, by:

• responsive to detecting that the current headway is below the target headway, determining and implementing a deceleration strategy for increasing to the target headway;
• wherein the deceleration strategy is determined so as to selectively optimize for comfort in dependence on a determined risk category of the ego vehicle, the risk category determined as one of a discrete set of risk categories based on the current speed and acceleration of the forward vehicle relative to the ego vehicle.

An adaptive cruise control method for autonomously adapting the speed of an ego vehicle to maintain a target headway, headway being distance from the ego vehicle to a forward vehicle, the ego vehicle equipped with a perception system for measuring a current headway and a current speed and acceleration of the forward vehicle relative to the ego vehicle, the method comprising:

• in response to detecting that the current headway is below the target headway, determining and implementing a deceleration strategy for increasing to the target headway;
• wherein the deceleration strategy is determined so as to selectively optimize for comfort in dependence on a predicted headway, the predicted headway computed for a future time instant based on the current speed and acceleration of the forward vehicle relative to the ego vehicle.

(canceled)

(canceled)