No. The TBS TV series "Are We There Yet?" has not been cancelled. After the second season ended on May 4, 2011, the show was renewed for a third season, expected to air in 2012. However, while it's expected that there will be a Season 3, no episodes of "Are We There Yet?" have aired yet in 2012. It's possible that TBS is waiting until the fall of 2012 to start airing Season 3.
The show is based off of the 2005 movie Are We There Yet? and its 2007 sequel Are We Done Yet?, both starring Ice Cube and Nia Long. In the TV series, the main character Nick is played by Terry Crews, while his wife is played by Essence Atkins. While Nick was played by Ice Cube in the movies, Ice Cube plays Nick's brother-in-law Terrence in the TV series.
It's recommended to keep checking http://tbs.com for more information on when the show will return. Old episodes and clips can be watched online at: http://www.tbs.com/shows/arewethereyet/