The rapid improvement of sensing and recognition technology has had an impact on the vehicle sector that led to the development of self-driving cars. Thus, vehicles are capable of driving themselves without human interaction, mostly relying on cameras, various sensors technology, and advanced algorithms for navigation. In this research, a controller module of a self-driving car project is proposed using a rule baser reasoner that is capable to drive a car considering the health condition of the driver, the road lanes, traffic signs, obstacles created by other vehicles. A number of sensors including Global Positioning System module, camera, compass, ultrasonic sensor, physiological sensor (heartbeat, blood pressure, body temperature, etc.) are involved while reasoning. The proposed controller consists of several modules: sensor module, lane detection module, road sign and human detection module, reasoning module, Instruction execution module. According to the experimental results the proposed system is able to make correct decisions with a success rate of about 90-95%.