Today, it is impossible not to heard about Autonomous Vehicles(AVs). Autonomous Vehicles (AVs) being an essential part of the future smart city traffic is a hot topic in recent years, but still to be developed. These systems, also called self-driving cars are a kind of mobile robot and comprising perception system, behavioral decision, motion planning and intelligent control. Along with them a lot of social benefits are carried out. First of all it is expected to reduce the number of accidents, as over 90 % of accidents is caused by human mistakes. Second AVs can affect travel costs and labor costs by exploiting for example intelligent car pooling.