B10 ACC jerkiness with gas pedal

In B10 REEV with software version 5.51.23 and now 3.51.30 when the ACC is enabled and I want to accelerate manually car stutters/drops power momentarily/doesn't keep the same power output like it want to slow down. As soon as the pedal is released the effect vanishes. The longer the gas pedal is pressed the more the effect is prominent. It's dangerous to sorrounding cars and extremely uncomfortable for passangers. ACC should disable itself temporarily when the gas pedal is pressed and resume functioning when pedal is released, with no impact on LCC.