We discuss the brane cosmology in the 5D anti de Sitter Schwarzschild (AdSS$_5$) spacetime. A brane with the tension $\sigma$ is defined as the edge of an AdSS$_5$ space. We point out that the location of the horizon is an apparently, singular point at where we may not define an embedding of the AdSS$_5$ spacetime into the moving domain wall (MDW). We resolve this problem by introducing a radially infalling brane (RIB) in AdSS$_5$ space, where an apparent singularity turns out to be a coordinate one. Hence the CFT/FRW-cosmology is well-defined at the horizon. As an example, an universal Cardy formula for the entropy of the CFT can be given by the Friedmann equation at the horizon.