The combination of passive and active vehicle safety technologies can effectively improve vehicle safety. Most of them predict vehicle crashes using radar or video, but they can't be applied extensively currently due to the high cost. Another collision forecasting method is more economic which is based on the driver behavior and vehicle status, such as the acceleration, angular velocity of the brake pedal and so on. However, the acceleration and angular velocity of the brake pedal will change with the driver and the vehicle type.In order to study the effect of different drivers and vehicle types on the braking acceleration and angular velocity of the brake pedal, six volunteers were asked to drive five vehicles for simulating the working conditions of emergency braking, normal braking, inching braking and passing barricades under different velocities. All the tests were conducted on asphalt road, and comprehensive experimental design was used to arrange tests. One-way and two-way ANOVA have been used to analyze the driver, vehicle and braking initial velocity effect on the acceleration and angular velocity of the brake pedal which based on the peak algorithm.The results showed that the acceleration and angular velocity of the brake pedal can be used to predict collisions, which have significantly difference between emergency and non-emergency conditions. Drivers and vehicles both have an effect on vehicle acceleration and brake pedal angular velocity, so threshold should change according to the drivers and vehicles. The results can provide significant support for parameters setting of predicting the collision.