The percentage of ADAS features installed in cars and trucks, which are getting increasingly popular, has significantly increased. Experimental and numerical simulations are necessary to validate ADAS functions and assure passengers' safety. Per Euro NCAP testing standards, numerical studies are carried out on the current ADAS functions. The Lane Keeping Assist System and ADAS features were considered using MATLAB and Simulink software. In the present study, ADAS development and qualification tests are studied concerning vulnerable road users (VRU), such as Car to Car driving and Car to Pedestrian scenarios. Different parameters are used to investigate the impacts of subject/global and ego vehicle conditions such as acceleration, deceleration, perceptual reaction time, gap acceptability, and stop/go choice to avoid collisions. The present methodology evaluates Time-To-Collision (TTC) for different car-to-car and Car-to-pedestrian scenarios at different vehicle velocities. This method of testing autonomous emergency braking (AEB) function for passenger vehicles results in collision mitigation and avoidance and reduces the number of accidents based on human errors. © 2022 IEEE.