This paper will focus on artificial intelligence used for judgment during cognition-judgment-control of autonomous vehicles. An autonomous vehicle is a vehicle that can drive itself without the intervention of a driver or passengers. Self-driving cars are mainly conducted in the form of research to improve driving safety and driver convenience. Autonomous vehicle technology applies the degree of autonomous driving to level 0 automation, Level 1 Driver Assistance, Level 2 Partial Automation, Level 3 Conditional Automation, and Level 4 Advanced. The development proceeds in stages of High Automation and 5 Stages of Full Automation. The Society of Automotive Engineers (SAE) ranges from level 0 to level 5, and level 3 is the best technology for autonomous driving technology installed in currently sold vehicles. This is just a state-of-the-art driver assistance system that allows autonomous driving in a certain section and requires the driver to keep an eye on the surroundings to prepare for unexpected situations.