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This paper proposes an extensive overview of safety applications andapproaches as it relates to automated driving from the prospectives of sensorconfigurations, vehicle dynamics modelling, tyre modeling, and estimationapproaches. First, different Advanced-Driver Assistance Systems (ADAS) areintroduced along with the main sensing components and technologies. Then,different kinematics modelling of vehicles and tyres are discussed. Finally,various communicational technologies and architectures along with self-drivingmodules are presented. Moreover, some interesting perspectives for futureresearch are listed based on the extensive experience of the authors. Theobjective of this study is to teach and guide the beginner and expert forchoosing the most suitable approach for autonomous driving applications insafety and stability targeted issues.

Vehicular Safety Applications and Approaches: A Technical Survey