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Deceleration patterns of an expert driver will be formulated using the perceptual risk index for approach and proximity of a preceding vehicle as an example of comfortable braking pattern. It will be shown that the formulated braking pattern can generate smooth deceleration profile uniformly for many conditions of approaching conditions. In addition, brake initiation timing of expert driver will be successfully formulated using the alternative index. Finally, an automatic braking system will be proposed based on the formulated brake initiation model and the velocity profile. Twenty five expert drivers experienced the automatic braking installed in an experimental car. It will be shown that the proposed system can generate smooth profile and realize secure brake patterns based on subjective evaluation.