In traditional Pedestrian Automatic Emergency Braking (PAEB) system, vehicles equipped with onboard sensors such as radar, camera, and infrared detect pedestrians, alert the driver and/ or automatically take actions to prevent vehicle-pedestrian collision. In some situations, a vehicle may not be able to detect a pedestrian due to blind spots. Such a vehicle could benefit from the sensor data from neighboring vehicles in making such safety critical decisions. We propose a trust model for ensuring shared data are valid and trustworthy for use in making safety critical decisions. Simulation results of the proposed trust model show promise.