The velocity of a vehicle is controlled according a cruise control system that has a plurality of cruise control features. Each of the cruise control features has a current desired velocity requirement which can be used to determine a single current desired velocity for controlling the vehicle. A future desired velocity requirement can be predicted for each of the cruise control features over a time period. Vehicle acceleration can be determined from the difference of the current desired velocity and the predicted future velocity for controlling the velocity and acceleration of the vehicle to the predicted future velocity.