In this paper, the problem of autonomous navigation is addressed starting from the use of RTK-GPS until the use of vision as the main sensor. Using a decoupling strategy, it is possible to control separately lateral and longitudinal control in trajectory following tasks. Recent advances in vision, make possible to localize an urban vehicle in regard with a previously recorded trajectory. The concept of sensory memory (GPS, Vision), which tra-duces the learnt trajectory, is introduced and used to guide autonomously the vehicle. Then, an extension to vehicle platoon is described. Different kind of longitudinal control strategies are discussed : from a near to near approach, to a global strategy. Finally, in order to manage different kind of scenario which occur in a platoon context, a monitoring module is developed. All theses aspects are currently addressed through the BODEGA (ROBEA-CNRS national interdisciplinary research program) and MOBIVIP (PREDIT3 national research program) projects.