In this paper, we develop a completely self-contained controller (SCC) for implementing all functions of autonomous intelligent cruise control (AICC). SCC consists of two modules: the decision module analyses the current scenario and infers control mode that associates with a certain manoeuvre; the control module implements the command provided by the decision. A rule-based logic is used in the decision to infer an appropriate manoeuvre. To execute the manoeuvre, a control scheme in the control module is designed to implement this task. It is proven that the proposed SCC can avoid slink-effect occurring when a vehicle string is moving on a highway. Examples are given to show that SCC can handle all possible traffic scenarios with satisfactory performance. The potential flow increases when all vehicles on a highway equipped with the proposed controller are examined by running a highway simulator in which the traffic is under very realistic assumptions.