The paper proposes the design of an enhanced cruise control system for automated vehicles. The control strategy has three components, such as a predictive optimal control, a robust Linear Parameter-Varying (LPV) control and an optimization-based supervisor. In the design process of the control, primary performances (safety and speed limitation requirements) and secondary performances (economy and traveling time criteria) are considered. These performances are guaranteed through the different control components. The enhanced cruise control is able to provide solution to complex cruise control scenarios with a guaranteed performance level. The effectiveness of the method is illustrated through various simulation examples, in which the loss of the performance level is avoided by the proposed control.