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If a collision with an object may occur due to the vehicle suddenly moving forward due to an accidental accelerator pedal operation, the vehicle moving the unintended direction due to the wrong shift position being selected, or while parking or traveling at low speeds, the sensors detect objects, such as a wall, in the traveling direction of the vehicle, and the system operates to lessen an impact with an object and reduce the resulting damage. The system will operate in situations such as the following if an object is detected in the traveling direction of the vehicle.