Advanced Driver Assistance Systems (ADAS) are in-vehicle systems for preventive safety with the intent to advise, warn and support the driver in his/her interactions with the vehicle and the surrounding traffic. They are designed to provide assistance in controlling the vehicle, to improve its behaviour in the traffic and to avoid accidents. To date the topic of developing an preventive safety system with the aim of preventing accidents among vehicles and unprotected road users has not been tackled yet. The main reason is because the applied technologies, principally developed to detect other vehicles, have limitations which exclude the possibility, or make it difficult, to detect Vulnerable Road Users (VRU: pedestrian, cyclist, motorcyclist). At the same time the use of active or passive safety systems on vehicle is not able to avoid this type of road accidents.