One of the problems still present in autonomous driving is the understanding of the surrounding context in which the navigation occurs. Besides recognizing the road components, potential obstacles and vehicles, autonomous cars don't consider the whole information which are intrinsic to the situation, which are instead considered by a human driver. In this chapter we show how an ontology-based architecture for the Context of Navigation is sufficient to encode such information and to enable reasoning over it. We also show how the control loop of the autonomous vehicle can be modified to adapt to the situation.