The invention discloses a self-adaptive autonomous emergency brake (AEB) control algorithm based on road adhesion. The self-adaptive autonomous emergency brake control algorithm based on the road adhesion predicates collision risk between a vehicle and a forward obstacle though obtaining forward obstacle information, information of the vehicle and a road adhesion coefficient and makes a final pre-warning and autonomous braking decision by taking control input of a driver into consideration so as to remind the driver of adopting forward collision avoidance control or avoid collision between the vehicle and the forward obstacle or reduce collision degree between the vehicle and the forward obstacle by using autonomous braking interference if necessary. According to the self-adaptive autonomous emergency brake control algorithm based on the road adhesion, on the premise of not changing the configuration of the existing vehicle-mounted sensor, the road adhesion coefficient is estimated in real time; the pre-warning and autonomous braking opportunity can be automatically adjusted in a safe distance model according to the road adhesion coefficient so that the forward collision avoidance safety on road surfaces with various road adhesion coefficients is ensured and false alarm or false brake interference is avoided; driving safety and good driving experience are both achieved; and during driver brake interference, the self-adaptive autonomous emergency brake control algorithm based on the road adhesion can apply necessary brake assistance according to the calculated collision risk.