  Due to the growing awareness of driving safety and the development of
sophisticated technologies, advanced driving assistance system (ADAS) has been
equipped in more and more vehicles with higher accuracy and lower price. The
latest progress in this field has called for a review to sum up the
conventional knowledge of ADAS, the state-of-the-art researches, and novel
applications in real-world. With the help of this kind of review, newcomers in
this field can get basic knowledge easier and other researchers may be inspired
with potential future development possibility.
  This paper makes a general introduction about ADAS by analyzing its hardware
support and computation algorithms. Different types of perception sensors are
introduced from their interior feature classifications, installation positions,
supporting ADAS functions, and pros and cons. The comparisons between different
sensors are concluded and illustrated from their inherent characters and
specific usages serving for each ADAS function. The current algorithms for ADAS
functions are also collected and briefly presented in this paper from both
traditional methods and novel ideas. Additionally, discussions about the
definition of ADAS from different institutes are reviewed in this paper, and
future approaches about ADAS in China are introduced in particular.
