  This paper proposes an extensive overview of safety applications and
approaches as it relates to automated driving from the prospectives of sensor
configurations, vehicle dynamics modelling, tyre modeling, and estimation
approaches. First, different Advanced-Driver Assistance Systems (ADAS) are
introduced 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-driving
modules are presented. Moreover, some interesting perspectives for future
research are listed based on the extensive experience of the authors. The
objective of this study is to teach and guide the beginner and expert for
choosing the most suitable approach for autonomous driving applications in
safety and stability targeted issues.
