The advancement of autonomous systems has catalyzed significant transformations across various industries, notably the automotive sector. This disruptive technology has become a cornerstone of innovation, fundamentally reshaping conventional paradigms of transportation and mobility. The incorporation of autonomous features into vehicles holds immense potential for enhancing efficiency, comfort, and, most importantly, safety on our roadways. This study aims to implement autonomous driving functionalities through a systematic approach encompassing perception, motion planning, control, and actuation. The primary objective is to evaluate the efficacy and outcomes of different control and motion planning algorithms concerning the critical facet of autonomous driving: safety. For safety assessment, the study will adhere to the Automotive Safety Integrity Level (ASIL) standards outlined in ISO 26262.