Controller hardware and software development team has been in the self-driving car project from the beginning. We started with 2-3 persons in the team that has been growing to 7-persons team already. Our main objective is to develop a low level controller software, that includes taking over all main car driving signals, refine them if necessary, or develop from the scratch. Thereby we must assure that driving would be smooth and safe. Therefore part of our team is working on development of car kinematics simulation environment that helps us to develop driving algorithms more efficiently. As low level software must be reliable in every aspect then one dedicated person is working on software testing. We are also connecting pipe between the high level software team and electronics team because car must react immediately to all upper layer commands.