The recent surge in advanced driver assistance systems (ADAS) in the automotive industry has been mainly motivated by two factors. First is the need to make roadssafer by equipping vehicles with technology that relieves drivers of fatigue inducing, repetitive driving actions while providing the vehicle with even more situational awareness. This is crucial since research has shown that approximately 90% of road traffic accidents are due to human error. In the US, the National Highway Traffic Safety Administration (NHTSA) reported that 36,560 people lost their lives to road traffic accidents in 2018 alone . An even more staggering statistic is the 1.25 million fatalities recorded worldwide in 2016 . The second pushing factor in ADAS development has been the race by automotive manufacturers to deploy an autonomous vehicle (level 5) that is capable of fully conducting all driving operations without a driver's intervention. According to Allied Market Research, the global autonomous vehicle industry was valued at $54.23 billion in 2019 and is projected to be valued at $556.67 billion by the year 2026. Beyond the obvious advantages of selfdriving cars such as time savings during commutes, autonomous vehicles will provide safe and reliable transportation to the disabled and elderly.