This paper presents a human factor considered risk management using vehicular communication for application to automated vehicle. A vehicle to vehicle (V2V) wireless communication have been implemented and fused with a radar sensor to obtain the prediction of remote vehicle’s motion. Based on the predicted behavior of remote vehicles, a collision risk and a human reaction time are determined for a human-centered active safety control intervention moment. The human-centered risk assessment algorithm has been incorporated into a collision avoidance algorithm to monitor threat vehicles ahead and to find the best intervention point. Effects of the vehicular communication on a host vehicle control performance is investigated. The performance of the proposed algorithm has been evaluated via computer simulations. It has been shown from both simulations that the proposed human-centered risk assessment algorithm with the V2V communication can be beneficial to active safety systems in decision of controller intervention moment and in control of automated drive for the guaranteed safety.