These 19 companies are racing to build self-driving cars in the next 5 years

There's no question that self-driving cars are coming - the real debate at this point is who will get there first.

We rounded up a whopping 20 companies - from traditional automakers to Silicon Valley start-ups - who are working to build a self-driving car by 2021. Naturally, when we will see a fully driverless car hinges just as much on the regulatory environment as advancements in self-driving tech.

But companies are plowing ahead with getting their self-driving cars ready by as early as 2021. Scroll down to see all the players in the self-driving car space: