During the last 20 years, agricultural machinery (tractors, machines and tool holders) have undergone many improvements. Sensing systems embedded in machines and tractors present a significant place in these improvements. The first generation of embedded sensing systems was dedicated to improve existing features on the machines. More generally, these systems were designed to improve the machine efficiency. The second major development of embedded systems on vineyard machinery is to make the machine exteroceptive. This is to equip the machine with sensors so that it "perceives" the environment and it adjusts its operation based on the observed variability or peculiarities of that environment. In agriculture, vineyard machines were among the first to be mounted with sophisticated optical sensors to relieve the driver from repetitive and difficult operations like prepruning. Sensing systems to perform variable rate application of sanitary products are currently under research. A third generation of sensing system appeared in the beginning of the 2000’s. It aims at collecting timed and geo-referenced data on the production system (precision viticulture). In this case the machine is turned into a sensor and allow to collect high resolution information (yield, sugar, harvest colour monitoring). Increased number of embedded sensors and automation lead the manufacturers to consider within machine networks for data exchange. A standard, SAEJ1039 and ISOBUS for data exchange was defined in order to facilitate communication and interoperability between the tractors (or straddle) and the attached machines. This standard is currently adopted in arable crops machinery and should be widely adopted in viticulture within the next few years. Interoperability opens new perspectives since the machine becomes part of the information system of the whole farm. New features like telematics and autonomous machines should emerge very soon in viticulture.