In the last years Autonomous Vehicles have become one of the most important and popular automotive topics. A concept that was considered futuristic a few decades ago is ready to enter our lives and completely change the experience of driving and the whole transportation. Many research studies predict a huge positive impact related to driving aspects such as comfort, low traffic, and safety. In general, an autonomous vehicle’s control consists mainly of three separate modules: environment perception, planning and decision-making, and vehicle control. Environment perception is defined as the process of interpreting vision and sounds. It is a process to interpret, acquire, select, and then organise the sensory information from the physical world to make actions like humans.