The multi-attribute large group emergency decision-making (MALGEDM) problem has gained increasing attention and becomes an important topic in the field of decision-making. The existing consensus models, however, rarely consider the effective balance between experts’ willingness and time consumption. To address this problem, we design a two-stage adaptive consensus reaching process that combines two models of the minimum adjustment amount and the minimum iteration number in the MALGEDM context. The process can achieve consensus with an improved automatic strategy that considers experts’ willingness. Firstly, the self-organizing map algorithm is employed to classify large group heterogeneous experts into multiple subgroups for the dual decision of clustering and expert categories. Secondly, we classify different degrees of consensus into four scenarios (low, medium, medium-high, and high). On this basis, we have constructed a two-stage adaptive consensus model that incorporates the novel possibility degree. The minimum adjustment amount of the adaptive feedback process can be obtained by the optimization model in the first stage, which is used as a constraint for considering the experts’ willingness in the second stage. Finally, the practicality and timeliness of the proposed model is verified through an illustrative example of emergency decision-making. Moreover, comparative analyses are conducted to highlight the superiority of the proposed model.