The interest in autonomous driving has grown in the recent years, such that it is starting to be adopted in many applications, like in research, industries or in student works and competitions, as its use will probably spread more in the future if people will not fear letting go of the wheel. The main topic of this thesis is the analysis and implementation of control algorithms for a scale model of a self-driving car that has to deal with specific scenarios: straight roads, crosses, curves and stop lines. The information from the external world will come to the car from a camera, that is needed for the development of lane detection algorithms and to let the vehicle know in which situation it is involved.