Vehicle Safety has become a fundamental function in modern driving. The will to reduce fatal accidents and reduce huge quantity of injuries led the automotive companies to move towards more innovative solutions in automated driving introducing vision systems, which help the driver during driving, providing warning and acting autonomously when the driver is not concentrated or is not able to react promptly to avoid the possible collision. Therefore, it is fundamental that automated systems embedded into cars are able to recognize the risks that surround the vehicle and react in a reasonable amount of time, in order to avoid or partially mitigate the possible accident, especially in the city traffic environment.