It is now recognized in the ITS community that it is much more likely to deploy autonomous vehicles first on motorways than in urban areas despite the many possible applications and uses that are economically viable: automated taxis, automated shuttles for public transportation, automated freight and delivery systems, last mile solutions… The reason for this position is the multitude of obstacles and challenges at legal, economic, technical and even scientific levels. In this talk we will tackle the benefits of automation in urban areas and we will focus on some practical use cases. We will detail the technical challenges and practical solutions provided through existing examples. More deeply we will tackle localization, motion planning and intelligent control techniques dedicated to specific manoeuvres and configurations such as urban platoons and automated parking and docking. Some examples will be provided coming from real implementations and original concepts validated in urban-like environments.