Aiming at the problem of poor corner adaptability and comfort of the AEB system, an AEB control strategy considering variable curvature corners and braking comfort based on motion prediction using gaussian process are proposed. The road model established based on the cubic spline curve is used to locate the obstacle and calculate the relative distance. Considering the nonlinear characteristics of vehicle motion and time effects, a vehicle motion prediction model based on gaussian process theory is established to designed the hierarchical early warning and braking control strategy based on predicted collision time. The results of the co-simulation show that the proposed control strategy can effectively avoid collisions and solve the problems of curve adaptability and braking comfort of the AEB system under complex dynamic conditions.