The 2022 study on traffic fatalities in Italy by the Italian National Institute of Statistics (ISTAT) reports 454 daily fatalities and 561 injuries, primarily due to distractions. Then, the success of Autonomous Driving depends on intelligent perception systems to enhance road safety, with vision systems playing a critical role throughout its history. In the field of Computer Vision, Deep Learning has gained mainstream acceptance for its ability to model complex problems like Object Detection and Instance Segmentation. More recently, Scene Graph Generation has emerged as a novel paradigm, where scenes are depicted as graphs with objects as nodes and their relationships as edges.