If we want to increase the level of autonomy to a level where we can consider the removal of the human driver from the machine, we must give the machine the capability to localize itself autonomously everywhere on the route map. Due to the urban environments, including tunnels and proximity of tall buildings, there will always be areas where the use of traditional GNSS based localization is just not possible due to the lack of reliable satellite connection. To secure the full localization coverage, an additional system must be included. This localization system is usually based on a detailed constantly updated feature-based map of the working environment, sensory system capable of detecting those selected features in all conditions, and the algorithms to produce probabilistic real-time 6D position estimates. 3D localization (GIM-Locator) and environmental modeling (GIM-Mapper) sensor and software systems provide the foundations for situational awareness, and therefore obstacle detection and the following collision warning signals for the driver.