The ACC speed is set by the driver;
if you press the left centre joystick down, it sets the cruise at whatever speed you're doing (e.g 38mph) and will then stay a certain distance away from the vehicle in front -
moving the left joystick left/right will decrease/increase this distance.
To increase/decrease speed to the nearest round-5mph (e.g 35/40mph) press the left joystick up/down.
To increase/decrease ACC speed in 1mph increments, hold the left joystick up/down until it has reached your desired speed (e.g 42mph)
IMO the UK road network isn't ready for automatic speed limit recognition, as the car often picks up speed signs that are for the nearest slip road etc.