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The purpose of this study is to develop a method for evaluating the safety of the braking control algorithm for automated driving under mixed traffic flow of automated driving system and vehicles driven by drivers. We consider that the automated driving system should be controlled such that it blends in with mixed traffic. Therefore, in evaluating the safety of braking control for the automated driving system when following, the influence of the automated driving system on the driver of the following vehicle is an important evaluation index. First, we analyzed past traffic accidents in Japan to determine a suitable traffic environment for evaluating the safety of the braking control algorithm for the automated driving system when following. Second, the driver’s braking operations were measured using actual vehicles in this situation. We developed a method of generating sample algorithms of braking control based on the driver’s braking operations.