It is obvious that we are rapidly moving into a future where intelligent vehicles assist you in avoiding collisions or take over part of the driving tasks, giving you the impression that the car can almost drive itself. Advanced computer vision in combination with radar technology and capable computational platforms have created a revolution in this field and accident statistics show that it has a significant positive impact on traffic safety - it is saving lives every single day. Demonstrations of prototypes are already ubiquitous and almost all car manufacturers are talking about it, but why can you not yet buy a fully self-driving vehicle at your local car dealer? We'll describe how Zenuity addresses the key challenges when developing software for self-driving vehicles. Zenuity originates from the safety leaders of the automotive industry and develops a complete software stack from sensors to actuators.