Motion Autonomy and Safety issues in Autonomous Vehicles are strongly dependent upon the capabilities and performances of Embedded Perception and Decision-making systems. This talk presents how it is possible to address these important issues using both Bayesian Perception and Machine Learning approaches. The talk will be illustrated using results obtained by Inria Grenoble Rhône-Alpes (France) in the scope of several R&D projects with IRT Nanoelec (French Technological Research Institute) and with several industrial companies such as Toyota or Renault.