In the field of control, automated driving (AD) makes up one of the most active and sought-after research areas due to its potential to transform transportation. Reducing carbon emissions, increasing safety, and improving logistics are only a small part of the major benefits autonomous vehicles (AV) can deliver to companies and citizens. This thesis introduces a complete control system for AD, focusing mainly on one of the core problems of AV: motion planning (MP). MP refers to the computational process that allows an AV to reach a destination from a starting point, following a series of valid configurations and avoiding obstacles.