The safety of critical maneuvers of autonomous vehicles is a very important part of vehicular prototype, assessed within the simulation environment of CARLA (Car Learning to Act). The simulation environment features a cluster configuration of twelve sensors installed on the ego car achieving Level 3 autonomous control on the figure eight highway of the Town 04 environment: along with 20 background cars (controlled traffic). The testing environment covers 30 different test cases by testing the sensors output with different weathers/time of day and different levels of progressive ADAS configurations, from only emergency braking to complete Level 3 ADAS package enforcement. Longitudinal control is managed using a PID controller with anti-windup, while a time-based sensor fusion persistence mechanism ensures perception continuity during weather-induced sensor degradations.