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Since data processing methods could not completely eliminate the uncertainty of signals, it is a key issue for stable and robust decision-making for uncertainty tolerance of intelligent vehicles. In this paper, a decision-making for an Autonomous Emergency Braking (AEB) case considering the uncertainty of road adhesion coefficient estimation (RACE) is proposed. Firstly, the 3σ criterion is employed to classify the confidence in order to establish the decision-making mechanism considering the signal uncertainty of RACE. Secondly, the model for AEB with the uncertainty of the road adhesion coefficient estimated is designed based on the Seungwuk Moon model. Thirdly, a CCRs and CCRm scenario was designed to verify the feasibility in reference to the European New Car Assessment Programme (Euro NCAP) standard. Finally, the results of 10,000 cycles test illustrate that the proposed method is stable and could significantly improve the safety confidence both in the CCRs and CCRm scenarios.