When the millimeter-wave radar and monocular camera sensors detect a vehicle ahead, a pedestrian during the day or at night, or a cyclist during the day*1 and determine that a collision is likely, it alerts the driver and activates pre-collision brake assist when the driver depresses the brake pedal. If the driver cannot depress the brake pedal, it activates the pre-collision brake to help avoid a collision or mitigate the impact force.