In this paper, the examination of the current state of the art in Computer vision with self driving cars has been discussed. The main points which discussed here are the units of self driving car, the core components of self driving cars, Safety problems of road vehicles are also presented. A Self Driving car is a vehicle that is capable of sensing it’s environment and able to do the necessary navigation without the human input. The main idea which has been discussed here is General in-vehicle driver support system architecture. To detect and track vehicles and other kinds of objects often with different sensors are used. Thus giving humans the capability of using self driving vehicle for daily usage will change the current scenario of transportation and helps to improve the user driving experience