With the introduction of vehicle stability systems like ESP?, and passive safety systems like seat belts and airbags, driving safety has been improved and the number of road traffic fatalities and severe injuries have been significantly reduced in the last decades. Although these safety systems are state of the art for new passenger cars, in Germany the number of fatalities remains on a similar level in the latest years. At the same time, the need of the people for individual mobility is still increasing and this is resulting in higher traffic density, traffic complexity, and increasing stress for the drivers. Statistical data shows that the driver remains as an essential source for accidents. To further increase the driving safety and to relieve the driver of the complex task of vehicle guidance, today nearly all OEMs and suppliers are dealing with ideas for selfdriving vehicles or are engaged with highly automated driving (HAD) functionalities.