In this work, DSRC capabilities combined with autonomous vehicles' on-board sensors (camera) are used to trigger an Automated Emergency Brake (AEB) for urban traffic light intersection scenario. The system is designed to achieve AEB in two phases, the comfortable brake and the full stop emergency brake. The comfortable brake is applied first based on the content of the Signal Phase and Timing (SPaT) / Map data (MAP) messages received from the Road Side Unit (RSU) at larger distances. And, once the traffic light becomes in the detection field of view of the camera, the output of the camera-based Traffic Light Detection (TLD) and recognition software is fused with the SPaT/MAP content to decide on triggering the full stop emergency brake. On the automated vehicle, the content of the received SPaT/MAP is parsed and communicated through UDP packets to the central processing unit that runs the camera-based TLD software for traffic light state matching and distance calculation. TLD software processes frames in the Hue Saturation Value (HSV) color space by comparing intensity levels and circularity of color objects. The objects comes in RED GREEN & YELLOW are segmented out and a circularity check is done on all the objects to make sure that only circular color objects are segmented as the possible candidates. The system has been experimented and evaluated in urban road scenarios in day light conditions. The overall performance showed a smooth transition between the DSRC-based brake and the combined DSRC and on-board sensor-based brake.