In this paper, we propose a novel method for advanced adaptive cruise control considering the reaction time of the following driver. Our research group has developed a system to anticipate future positions of adjacent vehicles. Based on the prediction results, our system plans its path to avoid a collision. However, it can conversely cause an accident when the ego vehicle excessively accelerates or decelerates, particularly the following driver. The proposed method controls the inter-vehicular distance to adjacent vehicles while considering the reaction time of drivers. It is demonstrated that the proposed method is able to decrease collision risks and improve driving safety.