Automated driving systems guarantee a protected, agreeable and effective driving experience. The effectiveness and uses in the business of self-driving/driverless/automated/robotized vehicles will reduce human work. Quite possibly the main highlights for any keen ground vehicle depend on how it is reliable and feasible to get the data about the environment. This paper surveys the critical innovation of a self-driving vehicle. In this, there are four key advancements in self-driving vehicles, to be specific, path planning, environmental perception for vehicle control, are tended to and overviewed. By getting the environmental factors precisely and rapidly is perhaps the most fundamental and testing undertakings for the independent framework. Obstacle avoidance information is gotten from the highly resolute cameras and profoundly exact sensors. The most widely recognized detecting frameworks, for example, RADAR and LIDAR are utilized for insight on self-driving vehicles today give a full 360◦ view to the vehicle making it more educated about the environmental factors than a human driver. In this, a strategy to utilize two 360◦ cameras to see obstacles all around the self-sufficient vehicle. By utilizing vertical direction, instead of the horizontal direction and camera displacement. The Key thought for obstacle identification is to focus on the points in the 3D medium dependent on height, width, and slope comparative with neighboring points. The obstacle points that are mapped to the planes help in planning the motion of the vehicle. And also describes the robot operating system middleware and its importance.