I. Introduction
Over 3.5 million passenger cars worldwide are equipped with level 2 autonomous driving features such as Automated Lane Centering (ALC), Adaptive Cruise Control (ACC), and lane change assistance [1], [2]. With level 2 autonomy, the human driver must always be ready to take over the control of the car at any time. Many past studies have shown that unforeseen faults and/or malicious attacks can cause unsafe operation of the autonomous driver assistance systems (ADAS) with catastrophic consequences [3]–[8].