I had to look these up, and it looks like it's Adaptive Cruise Control (regular distance based), and Intelligent Cruise Control (ACC + lane keeping). Most likely it switches between if it can't find the road lines.

I only have ACC in mine, and there's still situations where I turn it off like in heavier traffic. It reacts too slowly so it ends up braking harder than it needs to, and then waits to accelerate and leaves a huge gap. It effectively makes traffic worse than if I drive manually.

I've also turned the lane departure system to warning-only because I've had it try to push me off the road before while I was towing a trailer. On narrow windy roads, it's basically required to hug the lines so I don't end up clipping trees with the trailer.