I guess the three point belt was a Swedish invention in the fifties. It was sold as an aftermarket product (as well as four point belts) before Volvo made it a standard option. It was without the yo-yo then.
Safety deformation zones came into many cars about the same time as collapsable steering columns, at least for the driver the most important innovation. I think Volvo, Mercedes and Opel were among the earliest.
ABS is from Bosch in Germany and was introduced in MB and BMW but I donīt know who had it first. I t might have been a similar product in the US or Japan as well.