The continuous technology development both in the field of simulations and neural networks is making Autonomous Driving (AD) more and more appealing for researchers. In order to make the AD a reality that would change our lives on a daily routine basis, the work is divided into two main branches: computer vision and control algorithms improvement. The ultimate goal of the research community is to improve the safety of the autonomous vehicles so that they can overcome the already very high safety of human drivers. The goal of the work is to monitor an autonomous vehicle exploiting a set of Neural Networks for the perception of the surrounding and the prediction of the other traffic participants behavior in order to improve the safety.