Improve existing infrastructures is a crucial theme about transport systems, due to many reasons, which range from the traffic congestion and environmental issues, including also, for instance, safety and land use. Continuous technology development brings many interesting ideas to this topic, and the role of ADAS – Advanced Driver Assistance Systems is promising. ACC – Adaptive Cruise Control and CACC – Cooperative Adaptive Cruise Control belong to the ADAS family of devices, which deal closely with autonomous driving, one of the most currently widespread topics in this field of research. ACC and CACC systems enforce the automatic control of the vehicle longitudinal motion, even if driver can get it back whenever he decides to.