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This paper discusses noise filtering in an autonomous emergency braking (AEB) system with a sensor fusion between a millimeter wave (MMW) radar and a camera. Three kinds of noise, namely twice harmonic noise, ground noise, and specular reflection noise, are then filtered. The former is caused by the reflection of a radar wave between a target object and the MMW radar; therefore, one of the sensing distances would be twice as longer as one of others. An object featuring this characteristic is treated as the noise and filtered. Next, detecting a ground metal as the target object generates the second noise with a focus of car-like objects. That is, an object-with the sensing distance from the MMW radar being smaller than that from the camera by a threshold value-is taken as the ground metal noise and ignored. Moreover, the third noise happens when there is a radar wave reflection between an object and its surroundings.