Abstract: A control unit performs a lane departure suppression control when a host vehicle is about to depart from a traveling lane. The control unit determines whether a low impact collision has occurred. The control unit performs a secondary collision damage mitigation control when the low impact collision is determined to have occurred while the lane departure suppression control is being performed.

Abstract: To provide a catheter for aortic valvuloplasty in which it is possible to significantly increase the therapeutic effect despite being minimally invasive. The present invention provides a catheter for aortic valvuloplasty characterized by including: first to third balloons that can expand and contract due to supply of a fluid, it being possible to change the relative positional relationships of the first to third balloons; first to third shafts that connect to the first to third balloons at the tip and supply fluid to the first to third balloons to cause the first to third balloons to expand and contract independently of each other; and at least one wire that introduces the first to third balloons from outside the patient's body to the aortic valve.