Since the 1980s, research on automated driving vehicles has entered a completely new phase, marked by pioneering projects such as Carnegie Mellon University’s NavLab [126] in the United States, the VaMoRs-P series [29] at the Bundeswehr University Munich in Germany, and the ARGO project [9] at the Vision Laboratory (VisLab) of the University of Parma in Italy. These initial efforts established the groundwork for contemporary automated driving technologies, transitioning the concept from a theoretical vision to a practical implementation.