One of the most important research and commercial topics in the automotive industry today is the design of systems capable to support the driver when traveling by vehicle, with different levels of intervention on the vehicle control. These systems are called Advanced Driving Assistance Systems (ADAS) and they are inserted into a larger research field, which is the autonomous driving task. This topic, also named as Dynamic Driving Task (DDT) following the Society of Automotive Engineering denomination, is one of the most important multidisciplinary engineering challenges of the incoming years. In this scenario, one of the most crucial tasks needed to improve the quality of a system autonomously controlling the vehicle is the environment recognition, namely the determination of areas where the car is allowed to go and the detection of obstacles and hazardous situations.