This project aims to describe the integration of a motion planner in an existing environment developed for autonomous driving applications. The framework used is based on ROS and exploits different technologies and algorithms for guidance, navigation and path planning. While the final step of the validation is the testing on a real vehicle, the purpose of this thesis is to implement the motion planner in Simulink, run a series of simulation using a virtual vehicle in CarMaker and perform an evaluation using the obtained results.