The development of autonomous vehicles is one of the most significant and promising technological challenges of the modern era, with substantial potential benefits in terms of road safety, traffic efficiency, and environmental sustainability. However, the complexity of the control systems required for fully autonomous driving demands advanced approaches capable of managing dynamic scenarios and variable operating conditions. In this context, simulators play a crucial role in testing and validating these technologies by providing a safe and controlled environment to replicate diverse driving scenarios without real-world risks. This thesis presents the design of a control system for autonomous driving implemented in MATLAB, co-simulated with the CARLA simulator.