A method for autonomous emergency braking of an ego vehicle comprising at least the following steps: capturing driving-dynamics variables (v1, a1) of the ego vehicle, capturing distance measurement signals and determining a longitudinal distance (dx) of the ego vehicle from an object in front, if an emergency braking situation (St2, y) is detected based on the driving-dynamics variables (v1, a1) and the distance measurement signals; advanced determining or projecting - of a first starting point for initiation of a warning phase with an output of a warning signal without initiation of a braking operation, and - of a second starting point for initiation of a subsequent partial braking phase with a partial-braking brake pressure (p_hc), and - of a third starting point for initiation of a subsequent emergency braking phase with a higher brake pressure (p_aeb), wherein during the advanced determination of the first, second, and/or third starting point (d1, d2, d3) the following determination steps are carried out: = setting up a minimum period criterion with at least one minimum period (Δt_0, m) of the warning phase and/or the sum of the warning phase and partial braking phase, which is not undershot, = projecting, in advance in accordance with the longitudinal distance (dx) to the object, a criticality function that represents a criticality of the traffic situation, = wherein K thresholds (SW1, SW2, SW3) for the initiation of the warning phase, the partial braking phase and the emergency braking phase are stipulated for the projected criticality function such that, when the minimum period (Δt_0, m) is reached, the criticality function has already exceeded a third K threshold for the initiation of the emergency braking phase. capturing driving-dynamics variables (v1, a1) of the ego vehicle, capturing distance measurement signals and determining a longitudinal distance (dx) of the ego vehicle from an object in front, if an emergency braking situation (St2, y) is detected based on the driving-dynamics variables (v1, a1) and the distance measurement signals; advanced determining or projecting - of a first starting point for initiation of a warning phase with an output of a warning signal without initiation of a braking operation, and - of a second starting point for initiation of a subsequent partial braking phase with a partial-braking brake pressure (p_hc), and - of a third starting point for initiation of a subsequent emergency braking phase with a higher brake pressure (p_aeb), - of a first starting point for initiation of a warning phase with an output of a warning signal without initiation of a braking operation, and - of a second starting point for initiation of a subsequent partial braking phase with a partial-braking brake pressure (p_hc), and - of a third starting point for initiation of a subsequent emergency braking phase with a higher brake pressure (p_aeb), wherein during the advanced determination of the first, second, and/or third starting point (d1, d2, d3) the following determination steps are carried out: = setting up a minimum period criterion with at least one minimum period (Δt_0, m) of the warning phase and/or the sum of the warning phase and partial braking phase, which is not undershot, = projecting, in advance in accordance with the longitudinal distance (dx) to the object, a criticality function that represents a criticality of the traffic situation, = wherein K thresholds (SW1, SW2, SW3) for the initiation of the warning phase, the partial braking phase and the emergency braking phase are stipulated for the projected criticality function such that, when the minimum period (Δt_0, m) is reached, the criticality function has already exceeded a third K threshold for the initiation of the emergency braking phase. = setting up a minimum period criterion with at least one minimum period (Δt_0, m) of the warning phase and/or the sum of the warning phase and partial braking phase, which is not undershot, = projecting, in advance in accordance with the longitudinal distance (dx) to the object, a criticality function that represents a criticality of the traffic situation, = wherein K thresholds (SW1, SW2, SW3) for the initiation of the warning phase, the partial braking phase and the emergency braking phase are stipulated for the projected criticality function such that, when the minimum period (Δt_0, m) is reached, the criticality function has already exceeded a third K threshold for the initiation of the emergency braking phase.