I don't know if ACI 318 has a minimum. But for a point of reference, I have a couple thoughts. Simpson Strong Bolt2 1" expansion anchors may be installed with a 4-1/2" effective embedment per ICC ESR-3037. For seismic equipment anchorage in the 2001 California Building Code (based on the 1997 UBC), the response modification factor, Rp, could be no larger than 1-1/2 when the embedment was less than 8 x diameter (non-ductile). The IBC section 1911 (2009 edition) has a table for ASD that list a 1" anchor bolt with 7" embedment.
Like ztengguy, I would probably use 6" of embedment unless there was some other constraint. Or, I would use the 7" embedment with 5.3 kip ASD shear capacity per the IBC rather than calculating capacity with ACI-318 appendix D.