A system according to the principles of the present disclosure includes a cruise control module, an engine control module, and a brake control module. The cruise control module determines a cruise torque request based on at least one of a following distance of a vehicle and a rate at which the vehicle is approaching an object. The engine control module determines a negative torque capacity of a powertrain. The powertrain includes an engine and an electric motor. The brake control module applies a friction brake when the cruise torque request is less than the negative torque capacity of the powertrain.