The thesis hereby presented aims at implementing a safety strategy, capable of bringing an automated level 4 vehicle, to a minimum risk condition in case a performance related failure occurs, 2 different software’s are used to generate the model-based algorithm, MATLAB and Qt using State Chart XML. Chapter 1 gives insight into what is autonomous driving, the difference between each level of autonomy in an automated vehicle and a brief explanation of the CARLA autonomous driving simulator. Chapter 2 explains the design and the equipped sensors of the automated vehicle Chapter 3 describes how the autonomous driving simulator CARLA can connect and interact with the different software used in this thesis.