An adaptive cruise control system (100) for a host vehicle (260) includes a sensor (120) and a controller (105). The sensor (120) is configured to detect a vehicle (255) in front of the host vehicle (260). The controller (105) receives an indication of the detected vehicle (255) from the sensor (120) and is configured to maintain a speed of the host vehicle (260) at a desired speed, to determine a speed of the detected vehicle (255) relative to the host vehicle (260), and adjust an acceleration rate of the host vehicle (260) based on the relative speed.