Automotive companies continue to develop integrated safety, sustainability, and reliability features that can help mitigate some of the most common driving risks associated with autonomous vehicles (AVs). Hybrid electric vehicles (HEVs) offer practical solutions to use control strategies to cut down fuel usage and emissions. AVs and HEVs are combined to take the advantages of each kind to solve the problem of wasting energy. This paper presents an intelligent driver assistance system, including adaptive cruise control (ACC) and an energy management system (EMS), for HEVs. Our proposed ACC determines the desired acceleration and safe distance with the lead car through a switched model predictive control (MPC) and a neuro-fuzzy (NF) system. The performance criteria of the switched MPC toggles between speed and distance control appropriately and its stability is mathematically proven. The EMS intelligently control the energy consumption based on ACC commands. The results show that the driving risk is extremely reduced by using ACC-MPC and ACC-NF, and the vehicle energy consumption by driver assistance system based on ACC-NF is improved by 2.6%.