Adaptive cruise control method and system for controlling speed of vehicle

The present invention relates to a method for adaptive cruise control (ACC), of a vehicle, wherein the speed of the vehicle in relation to moving or stationary objects is controlled by accelerating and retarding the vehicle within predetermined comfort limits using e.g. the vehicle engine and breaks. Furthermore, vehicle speed is controlled in relation to identified stationary control objects located in a varying control region. The present invention also relates to an adaptive cruise control system for controlling the speed of a vehicle in relation moving or stationary objects.