soluzioni ADAS - ambito automotive Nowadays, the continuous improvement in transportation systems technologies provides several different opportunities which are exploited for the enhancement of safety and comfort in passenger vehicles. As an example, Adaptive Cruise Control (ACC) might provide benefits, including smoothness of the traffic flow and collision avoidance. In addition, Vehicle-to-Vehicle (V2V) communication may be exploited in the car-following model to obtain further improvements in safety and comfort by guaranteeing fast response to critical events. In this paper, firstly an Adaptive Model Predictive Control is developed for managing the Cooperative ACC scenario of two vehicles; as a second step, the safety analysis during a cut-in manoeuvre is performed, extending the platooning vehicles number to four.