“…The last few decades have seen a dramatic increase in the number of vehicles utilizing Advanced Driver Assistance Systems (ADAS), such as intelligent headlights [3], lane change assistance [2], and even the first attempts of automatic driving systems [6,14,15,18]. Although currently far from having feasible totally automated driving systems, there are several intermediate levels of driving automation for on-road vehicles, according to the SAE international standard J3016 [12], based on the system core functionality.…”