The review paper focuses on perception and localization and mapping components of AV systems. The paper provides a comprehensive review of deep learning algorithms used in sensor fusion for AV systems. Section 2 discusses recent sensor combinations and their applications, as well as different sensor fusion algorithms. Section 3 describes environmental perception and provides an overview of the latest deep learning detection algorithms and their performance. Section 4 discusses approaches for localization and mapping, compares different sensors used, and evaluates deep learning algorithms against traditional ones.