A great interest in self-driven vehicles has developed in the field of robotics and more generally in the industrial sector in the last few decades, and the number of applications where these vehicles are used is growing strongly. A clear example of this phenomenon are the efforts made by several automotive in terms of research and development, to manufacture increasingly competitive, safe and precise Autopilots. This is also due to cutting-edge on-board computers, the development of highly precise and performing sensors, and the advent of the 5G network, which is also aimed to ensure an unprecedented V2X communication, especially thanks to a new architecture called "network slicing".