The last years have witnessed a fast growth in the field of self-driving vehicles, mainly backed up by advances in the area of machine learning. As vehicles become increasingly complex, it is virtually impossible for car manufacturers to model how each component of the system should behave at any given time. Technology is now at a point where machines can be configured to learn from observation, just like humans. In particular, machine learning has the power to produce vehicles with the ability to act without being explicitly programmed.