Until recently, the improvements in terms of the safety of cars have been focused on the reduction of the damages during the accidents. Based on this way of thinking, technologies like airbags, seat belts pretensioners and crash-smoothing features have been realized. Nowadays, in contrast of the previous trend, a big amount of work is done with the aim of try avoiding directly injuries. The meaning of this labour is to implement clever on-board systems with the capability of control the environment and send aproper alert message to the driver when a dangerous situations are incoming. The biggest difficulty aboutthe on-board systems development is due to the fact that chips have to capabilities to "discover" and"understand" the environment.