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This paper presents a survey on applicability of expert system in designing and control of autonomous vehicles. Each of reviewed papers categorized on five categories as expert system, fuzzy expert system, neuro-fuzzy expert system, genetic plus neuro-fuzzy expert system and transition systems. Some earlier works used only a rule based expert system for driving the car but due to the lack of a precise model because of the uncertainty in modelling and have a simple, rapid and easily maintained design some others used fuzzy rule based system. The rules extracted from an expert's knowledge, because of some fuzzy bottlenecks some articles used combination of neural network or genetic algorithms with fuzzy to produce an efficient knowledge base and finally there is an article that used a transition system that is extracted from an expert knowledge to produce the rule base of the expert system. The goal of the expert system is to issue commands to the controllers to do the appropriate task. The review reveals that due to some advantages of fuzzy, neural and genetic algorithms, most of articles used from this techniques beside expert system.