Today is rapidly becoming the age of autonomous vehicles. The automotive industry, academia and the military sector are oriented on the issue of a fully autonomous vehicle. In this master thesis, the basic concepts and the technology used in autonomous vehicles will be presented. GPS, LiDAR sensor, radar, ultrasonic sensor and computer vision are just part of the technologies from which the data is gathered to get a complete picture of the environment, but also create the preconditions for creating algorithms and program code with which the vehicle will be independent. In order to facilitate the control of autonomous vehicles, there has been a need to create a user interface in which the operator specifies a route or only an end point, and the vehicle independently performs the task of autonomous driving. As a solution, this thesis presents a communication module written in the Python programming language, whose communication is based on ZMQ libraries, and the success of the module is checked experimentally within the QGIS program and the Gazebo simulator on a remote computer.