1. High-Precision GNSS based systems fused with inertial sensors will enhance the performance, safety and availability of ADAS and Automated Vehicle Systems 2. The choice of inertial sensor strongly influences the system performance in terms of both accuracy and functional safety 3. Significant further improvement potential can be found in the fusion of additional sensors, especially wheel speed sensors, and also steering angle sensors and visual odometry from e.g. LiDAR