“…ADA Saims at supporting drivers by either providing the warning to reduce risk exposure (e.g., driving over the speed limit, raising driver alertness (Spyropoulou et al, 2008)) or triggering control tasks which takes over the vehicle control to eliminate many of the driver errors leading to accidents (Piao &McDonald, 2008),to prevent DUI (Driving under Influence) (ICADTS, 2001;Mathijssen, 2005),and to assist in a better control of the vehicle (e.g., improving visibility of the road environment (Spyropoulou et al, 2008)). Now, technologies such as forward collision warning and avoidance systems, lane departure warning, side view assist, adaptive headlights, adaptive cruise control, and many more have become available in the market and many more are under development (Piao& McDonald, 2008;Jermakian, 2011).ADAS functions can be achieved through either an autonomous approach that includes on board intelligent vehicle systems, and wayside systems or cooperative approach which rely on interfaces between the vehicle and other vehicles on road and the road system components (Piao & McDonald, 2008).…”