The invention belongs to the technical field of car-following control and particularly relates to establishment of car-following system reference models and the adaptive optimization problem based on division of following states of car distance and speed and behaviors of behind-cars under the specific following states. The adaptive cruise control method is implemented by steps including: 1, establishing a car-following system model; 2, establishing the reference model of car-following control; 3, calculating dynamic safe car distance in real time; 4, according to the current specific car-following state, selecting a corresponding behind-car behavior modification mathematical model and calculating the control law of the car-following system in real time; 5, implementing the control law and achieving behind-car behavior modification; 6, detecting the following state of the following system in real time during modification of behind-car behaviors, turning to the step 4, and executing circularly. During the course that a behind car follows a front car, the control law for modifying self-behaviors is calculated in real time according to the current following state and car performance, behavior and vehicle distance information, so that the following operation which is safe, efficient and stable (comfortable) can be realized.