A method for determining an autonomous emergency braking of an ego vehicle, having at least the following steps: capturing driving dynamics variables (v1, a1) of the ego vehicle, capturing distance measurement signals and determining at least a longitudinal distance (dx) of the ego vehicle from a front object, assessing, on the basis of the driving dynamics variables (v1, a1) and the distance measurement signals, whether an emergency braking is to be initiated, in case the decision is made to initiate an emergency braking (y), determining - a first starting point for initiating a warning phase emitting a warning signal without initiating a braking, - a second starting point for initiating a subsequent partial braking phase (II.) with a lower partial braking braking pressure (p_hc) and - a third starting point for initiating a subsequent emergency braking phase (III.) for initiating an emergency braking phase (III.) with a higher emergency braking braking pressure (p_aeb), wherein in the determination of the starting points (t1, t2, t3) the following criteria are used - a period criterion with minimum periods (Δt0_I, Δ t0_II) of the warning phase and/or of the partial braking phase and - a dynamic criterion, which describes the positioning and/or speeds of the ego vehicle and of the object in the phases (I, II, III), wherein in the dynamic criterion movement equations (GL1, GL2) of the ego vehicle and of the object in at least the second order of the time (t) are used, and in the dynamic criterion an emergency braking acceleration (a_aeb) is used in the emergency braking phase and at least in some traffic situations (K4, St2a) a partial braking acceleration (a_hc) is used in the partial braking phase (II.) for the consideration of a braking effect in the partial braking phase, characterized in that in the dynamic criterion the partial braking acceleration (a_hc) is used in the partial braking phase (II.) only in dependence on a decision criterion that is decided in a decision step (St2a), wherein in the decision step (St2a) a reliability of the formation of the partial braking braking pressure (p_hc) is assessed in the partial braking phase, and the reliability is compared with a reliability threshold value (Z_tres) and if the reliability threshold value (Z_tres) is exceeded, the partial braking acceleration (a_hc) is used in the determination of the dynamic criterion and if the reliability threshold value (Z_tres) is fallen short of, it is not used. capturing driving dynamics variables (v1, a1) of the ego vehicle, capturing distance measurement signals and determining at least a longitudinal distance (dx) of the ego vehicle from a front object, assessing, on the basis of the driving dynamics variables (v1, a1) and the distance measurement signals, whether an emergency braking is to be initiated, in case the decision is made to initiate an emergency braking (y), determining - a first starting point for initiating a warning phase emitting a warning signal without initiating a braking, - a second starting point for initiating a subsequent partial braking phase (II.) with a lower partial braking braking pressure (p_hc) and - a third starting point for initiating a subsequent emergency braking phase (III.) for initiating an emergency braking phase (III.) with a higher emergency braking braking pressure (p_aeb), - a first starting point for initiating a warning phase emitting a warning signal without initiating a braking, - a second starting point for initiating a subsequent partial braking phase (II.) with a lower partial braking braking pressure (p_hc) and - a third starting point for initiating a subsequent emergency braking phase (III.) for initiating an emergency braking phase (III.) with a higher emergency braking braking pressure (p_aeb), wherein in the determination of the starting points (t1, t2, t3) the following criteria are used - a period criterion with minimum periods (Δt0_I, Δ t0_II) of the warning phase and/or of the partial braking phase and - a dynamic criterion, which describes the positioning and/or speeds of the ego vehicle and of the object in the phases (I, II, III), - a period criterion with minimum periods (Δt0_I, Δ t0_II) of the warning phase and/or of the partial braking phase and - a dynamic criterion, which describes the positioning and/or speeds of the ego vehicle and of the object in the phases (I, II, III), wherein in the dynamic criterion movement equations (GL1, GL2) of the ego vehicle and of the object in at least the second order of the time (t) are used, and in the dynamic criterion an emergency braking acceleration (a_aeb) is used in the emergency braking phase and at least in some traffic situations (K4, St2a) a partial braking acceleration (a_hc) is used in the partial braking phase (II.) for the consideration of a braking effect in the partial braking phase, characterized in that in the dynamic criterion the partial braking acceleration (a_hc) is used in the partial braking phase (II.) only in dependence on a decision criterion that is decided in a decision step (St2a), wherein in the decision step (St2a) a reliability of the formation of the partial braking braking pressure (p_hc) is assessed in the partial braking phase, and the reliability is compared with a reliability threshold value (Z_tres) and if the reliability threshold value (Z_tres) is exceeded, the partial braking acceleration (a_hc) is used in the determination of the dynamic criterion and if the reliability threshold value (Z_tres) is fallen short of, it is not used.