The frequent false alarms in Forward Collision Warning systems not only disturb the normal operation of drivers, but also reduce the user acceptance of the warning systems. However, drivers with disparate driving characteristics possess different safety cognition of car-following braking behavior; systems with stationary warning thresholds inevitably lead to higher false positive and false negative rates for aggressive and conservative drivers, respectively. In this study, we proposed an adaptive algorithm that learns the characteristics of individual drivers during car-following braking processes, and determined the optimal threshold online to adapt to different drivers. Signal detection theory was employed and the results of the accuracy, false negative rate, and false positive rate were used to capture drivers’ characteristics of car-following braking behavior. The optimal warning thresholds were continuously selected online during the learning stage based on changes in the drivers’ characteristics. The developed algorithm by conducting actual vehicle tests with two participants were evaluated. The offline statistical analysis results of the participants’ car-following braking characteristics were compared with the online results of the warning threshold adjustments from the adaptive algorithm. The comparison results indicated that the adaptive algorithm could effectively capture the drivers’ car-following braking characteristics and determine an appropriate warning threshold.
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