Technological revolution has reached all life activities starting from day planning reaching communication, entertainment, industry, and transportation. Each of previously mentioned categories get improved in a way making human life easier and safer. In the use of automatic control, several researches focused on automating vehicles’ systems to make driving easier and safer. The availability of autonomous vehicles will avoid accidents caused by taking a late decision or lack of driving experience in such situation. Approaching autonomous driving, an autonomous vehicle must be able to respond to