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Adaptive Cruise Control (ACC) runs with a set of parameters that determine how the ACC performs. Some of these parameters are tunable to some degree through HMI and the rest are pre-determined. The proposed Behavior Trainable ACC (BTACC) is able to learn all these parameters from driving behavior of the driver. To develop BTACC adapted to the driver’s driving behavior, the ACC keeps collecting driving data such as set speed, acceleration, deceleration, headway settings, etc., of the vehicle over time and keeps updating the related parameters. After training is over, the driver is able to drive the vehicle in BTACC mode, when the vehicle would drive itself according to driving behavior of the driver, young or elderly, and thus, provide the drivers with a higher level of safety and comfort. BTACC can be embedded with an existing ACC module so that the drivers may choose either ACC or BTACC.