Autonomous vehicle research and development is emerging in recent years globally aimed to provide a highly reliable, secure, mobile, and intelligent transportation system. The procedure involves integration of multiple systems together to ensure safe driving. The functional reference standard architecture of the autonomous driving system is classified into three main categories: perception, decision & control, and actuation. Mainly the challenging part is decision making that requires high-level planning and vehicle control to accomplish the driving mission. This thesis work is a small contribution to design and develop an autonomous formula student racing vehicle, and it mainly focuses on the study of decision making strategies and vehicle control system.