This thesis provides an overview of Autonomous Driving and ADAS, through the view point of automotive control systems, by implementing a test-bench to evaluate the performance of an autonomous car model in some critical driving scenarios and evaluating the performance of this system. First two chapters of this thesis provide an overview and some useful information about the concepts and technologies that are needed to develop these ideas. Consequently, the route that autonomous driving concept has already taken and what is expected to reach in the future, with regards to the standards, legislation and limits is discussed and presented. In the third chapter, concepts and technologies that are already mentioned, are taken into account to build up a model that would correspond to some specific simulations to test and evaluate the performance of an automated car.