A system that relaxes collisions caused by mistakes in accelerator pedal strokes and excessive steps and contributes to mitigation of damage. Added a function to alleviate contact with obstacles in "clearance sonar" which informs the approach of obstacles with display and buzzer during driving such as garage entry. When detecting an obstacle such as a wall in the forward and backward direction, the engine output is suppressed at the time of starting, and the brake is applied automatically when the distance further decreases. Also, it corresponds to scenes where the accelerator is not stepped, such as low speed running (creep running).