The present invention is a collision prediction apparatus that comprises a plurality of sensors for detecting an object in front of a vehicle by different mechanism and a control unit for selecting a sensor adequate for an input condition and predicting a collision between the vehicle and the object, based on information obtained from the selected sensor, wherein the plurality of the sensors comprise a radar for scanning front of the vehicle and a camera for taking an image of the front of the vehicle, and when a condition that it is lighter outside the vehicle than a predetermined value is input, it is enabled to configure a control unit so as to predict a collision between the vehicle and the object.