Self-driving cars are in continuous development and they will give us a safer and most powerful way of moving. The research, in the autonomous vehicles field, is working all the time in order to meet all the requirements in terms of real-time, safety and traffic congestion optimization. To do these, three different development areas are the most crucial: environment perception for mapping and localization, planning and decision-making for the behavioral part and vehicle control in order to give the vehicle the proper input. The environment perception is one of the critical parts because the car has to know what there is in its surroundings: if there something moving like other cars, bikes or people and if there are some fixed obstacles to avoid the collision with them.