Control system for a vehicle comprising: - an adaptive cruise control (ACC) (20) adapted to control the speed of a vehicle along UN5 to path while maintaining a predetermined spacing with respect to another vehicle moving ahead of said vehicle on said path, said ACC ordering (20) the acceleration and braking regardless of a driver of said vehicle to maintain said predetermined spacing; - a control system brake (10) operable at least in one of a plurality of operating states including an anti-lock braking control the traction and stability control yaw, including said at least one operating state a case of applying the brake; - wherein said ACC (20) and said control system braking (10) are adapted to exchange signals therebetween and wherein said ACC (20) is adapted to adopt a modification of tracking said another vehicle in response to said case, wherein the ACC (20) is adapted to take an active operation modified in response to said case.
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