When the pre-crash safety system determines that there is a likelihood of a collision with a vehicle or other obstacle in the road ahead, it alerts the driver with a display and a buzzer, and the pre-crash brake assist operates to increase the braking force when the driver depresses the brake pedal. If it determines that it is difficult to avoid a collision, the pre-crash brakes and pre-crash seatbelts also operate to help reduce injury due to the collision. Low beam discharge headlamps with an auto-leveling function create a wideradiation area for excellent visibility when driving at night. While driving during the day,and vehicles driving ahead.