In this paper we present a state feedback-based adaptive cruise control strategy for an autonomous vehicle able to operate in an effective and safe manner between speed regulation and position control, depending on the velocity of the precedent vehicle and its relative distance. The algori thm is shown to be stable in each operating mode, and design criteri a for the controller parameters are used in order to meet the required performance features. Additionally, the control system is numerically tested in an heterogeneous fleet mixing human drivers and autonomous vehicles, and it is shown how the presence of a limited number of autonomous vehicles equippe d with the proposed controller improves the traffic flow in term s of stop-and-go waves reduction

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