During the 21st century, a consistent technological breakout has allowed a meaningful development of autonomous driving systems; this is due to state-of-the-art technologies which have contributed to the mentioned technological progress: the evolution of advanced sensors, definition of increasingly sophisticated technologies and an increase of computational power in generals influenced autonomous driving research field to reach advanced and challenging purposes. Self-driving systems could radically transform the current idea of transportation system, which inevitably would imply a significant change of our economy and society. Level 4 self-driving cars, which according to some automaker companies estimates, may be placed on the market in the next several years, would cause a complete social, economic, and technological revolution.