As the autonomous driving paradigm started to propel the automotive field, the need to automate steering, acceleration and deceleration, the fundamental actions used to drive a car, arose. This thesis focuses on the development of an autonomous braking control that must be stable and effective in the real world, which is, due to the high complexity of the manoeuvre and the systems used to operate it, an ever uncompleted topic. In the automotive sector the most used solutions are brake-by-wire systems, where electrically controlled actuators are generally used to control basic car functions. Even if practical it’s cumbersome to reach a good compromise between performance and costs with this approach.