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The Department of Transport in the United Kingdom recorded 25,080 motor vehicle fatalities in 2019. This situation stresses the need for an intelligent transport system (ITS) that improves road safety and security by avoiding human errors with the use of autonomous vehicles (AVs). Therefore, this survey discusses the current development of two main components of an ITS: (1) gathering of AVs surrounding data using sensors; and (2) enabling vehicular communication technologies. First, the paperdoi:10.3390/s21030706 pmid:33494191 fatcat:drhtm37j7vbvvhvzoapr6t6s4u