Tracking of a target vehicle using adaptive cruise control

An adaptive cruise control system is provided for tracking a target vehicle (VT) through a curve. The adaptive cruise control system tests whether the target vehicle (VT) is traveling along the curve or whether the target vehicle (VT) is changing lanes. The test includes monitoring a change in travel directions between the target vehicle and the adaptive cruise control vehicle (VA). In one embodiment, the test monitors a change relative velocity versus azimuth angle.