While there aren't too many compact cars with ADAS features, the new Hyundai Venue is one of them. It's a great all-rounder with improved ride comfort and rear-seat space, a high-tech infotainment system with excellent graphics, a wide array of engines and gearboxes, and loads of safety features, including the aforementioned ADAS.
Another good option is the Kia Syros, which has all the features of the Venue, but even greater rear seat space (and ventilated rear seats). It costs a little bit more, and its look is not to all tastes, but it offers quite a bit more.

