A driver assistance system includes a sensor for sensing the speed of a first vehicle equipped with the system, a sensor for detecting a vehicle traveling ahead, a sensor for determining the speed of the vehicle ahead, at least one driving-data sensor for sensing driving data characteristics, and an electronic controller programmed to trigger autonomous braking of the first vehicle when predetermined brake-trigger driving data exist, and to end the autonomous braking when predetermined driving data for terminating braking exist. In effecting termination of autonomous braking, the electronic controller is programmed to determine whether the sensor for detecting vehicles ahead is transmitting signals (i.e., is operational) but is not detecting any vehicle traveling ahead, and, if the sensor is operational and no vehicle traveling ahead is detected, to terminate autonomous braking when the speed of the first vehicle is less than the most recently determined speed of the vehicle ahead.