When the millimeter-wave radar and monocular camera sensors detect a vehicle, pedestrian, bicyclist or motorcycle ahead and determine that a collision is likely, it alerts the driver with a buzzer and warning on the display. If the driver activates the brakes, pre-collision brake assist supplements the force being applied to the pedal. If the driver cannot depress the brake pedal, the system automatically activates pre-collision braking to help avoid a collision or mitigate the impact force. If the system determines there is a high possibility of a frontal collision with an oncoming vehicle, it alerts the driver and activates the brakes to help mitigate injury to people and damage to the vehicle.