The growing advancements in Autonomous Vehicles (AVs) have emphasized the critical need to prioritize the absolute safety of AV maneuvers, especially in dynamic and unpredictable environments or situations. This objective becomes even more challenging due to the uniqueness of every traffic situation/condition. To cope with all these very constrained and complex configurations, AVs must have appropriate control architectures with reliable and real-time Risk Assessment and Management Strategies (RAMS). These targeted RAMS must lead to reduce drastically the navigation risks. However, the lack of safety guarantees proves, which is one of the key challenges to be addressed, limit drastically the ambition to introduce more broadly AVs on our roads and restrict the use of AVs to very limited use cases. Therefore, the focus and the ambition of this paper is to survey research on autonomous vehicles while focusing on the important topic of safety guarantee of AVs. For this purpose, it is proposed to review research on relevant methods and concepts defining an overall control architecture for AVs, with an emphasis on the safety assessment and decision-making systems composing these architectures. Moreover, it is intended through this reviewing process to highlight researches that use either model-based methods or AI-based approaches. This is performed while emphasizing the strengths and weaknesses of each methodology and investigating the research that proposes a comprehensive multi-modal design that combines model-based and AI approaches. This paper ends with discussions on the methods used to guarantee the safety of AVs namely: safety verification techniques and the standardization/generalization of safety frameworks.

翻译：自主车辆技术的快速发展凸显了确保其操控绝对安全性的迫切需求，尤其是在动态和不可预测的环境或情境中。由于每种交通场景/条件的独特性，这一目标变得更加具有挑战性。为了应对这些高度受限且复杂的配置，自主车辆必须配备具有可靠且实时风险评估与管理策略的适当控制架构。这些针对性的风险评估与管理策略必须显著降低导航风险。然而，安全保证的缺失是亟待解决的关键挑战之一，这严重限制了自主车辆在道路上更广泛应用的雄心，并将其使用范围局限于非常有限的场景。因此，本文的重点和目标是调查自主车辆研究，同时聚焦于自主车辆安全保证这一重要课题。为此，本文拟回顾定义自主车辆总体控制架构的相关方法及概念研究，尤其关注构成这些架构的安全评估与决策系统。此外，通过这一综述过程，本文旨在突出采用基于模型方法或基于AI方法的研究，同时强调每种方法的优势与不足，并探讨提出结合基于模型与AI方法的综合多模态设计的研究。最后，本文讨论了用于保证自主车辆安全的方法，即安全验证技术以及安全框架的标准化/通用化。