When the pre-crash safety system (Millimeter-wave radar type) 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. Also, when turning through intersections and cornering, Intelligent AFS (Adaptive Front-Lighting System) provides optimum distribution of light from the low beam discharge headlamps based on the turning angle of the tires and vehicle speed. Intelligent AFS works in conjunction with an auto-leveling function to give excellent visibility. To make long trips comfortable, radar cruise control (Optional) uses data from a millimeter-wave radar sensor to identify, judge and follow the vehicle ahead while maintaining an appropriate distance between vehicles. In addition, after stopping on a slope, further depressing the brake pedal sounds a buzzer and activates Hill-start Assist Control which maintains optimum braking hydraulic pressure even if the brake pedal is released, enabling the driver to start by operating only the accelerator pedal.