This paper is a recapitalized version of a state of the art/practice report on vehicular mechatronics conducted by the authors. The report itself summarizes a large quantity of scientific papers, theses, white papers, and field trips to manufacturers. Since vehicular mechatronics is a wide field of research, this paper focuses mainly on braking and steering systems as specific product examples but also covers general system architecture, design methodologies as well as current legislation and standards. In the last section of the paper some conclusions regarding current research are drawn.