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The autonomous emergency brake (AEB) is an active safety function for vehicles which aims to reduce the severity of a collision. An AEB performs a full brake when an accident becomes unavoidable. Even if this system cannot, in general, avoid the accident, it reduces the energy of the crash impact and is therefore referred to as a collision mitigation system. A new approach for the calculation of the trigger time of an emergency brake will be presented. The algorithm simultaneously considers all physically possible trajectories of the object and host vehicle. It can be applied to all different scenarios including rear-end collisions, collisions at intersections, and collisions with oncoming vehicles. Thus, 63% of possible accidents are addressed. The approach accounts for the object and host vehicles' dimensions. Unlike previous work, the orientation of the vehicles is incorporated into the collision estimation.