The thesis project has been carried out in collaboration with Valeo Schalter und Sensoren GmbH located in Bietigheim-Bissingen (Baden-Württemberg, Germany) which is involved as a supplier in the automotive field for ADAS (Advanced Driver-Assistance Systems) applications. Among these, the presented thesis work will be focused on Predictive ACC (Adaptive Cruise Control) for the low-middle car segment market, i.e. using as perception components only the front camera and the information provided by SD (Standard Definition) Maps. The aim of this thesis activity is to extend the ACC features in complex scenarios such as highway exit and intersections (regulated either by stop and yield signs or by roundabout).