These include Vehicle control based on perception uncertainty, and below are two drawings taken from the equivalent US patent application. The first shows the way the software determines what to do, the second shows what the vehicle might look like if equipped with the sensing device.
I still find it incredible that we might relatively soon have self-driving cars. A very informative article by Robert Calem called Driverless cars on the rise from the 2014 Consumer Electronics Show discusses the issues involved with such cars.
I also enjoyed the New Yorker article by Burkhard Bilger, Auto Correct: Has the self-driving car at last arrived ?
Below is a short video showing the Google car in action.