The 10-year-old boy fatally struck by an out-of-control SUV as he waited for a city bus in Brooklyn had just missed his school bus home, his grieving parents said Wednesday.

“He said he was going to take the city bus,” Mary Majao told The Post of her Enzo Farachio. “I asked him if he was sure, and he said, ‘I know what I’m doing. I know what to do, Mom.’ So I said, ‘If you cannot take the yellow bus, you can take [the MTA] bus.’ ”

Enzo was killed when Alexander Katchaloff, 60, lost control of his Lexus SUV on Ocean Avenue in Midwood Tuesday after a possible medical episode, police said.