The automotive sector is undergoing a profound transformation, driven by the convergence of electrification, digitalization, connectivity, and automation, four forces redefining the essence of mobility. In this new paradigm, the vehicle is no longer a mere means of transportation but an intelligent system capable of perceiving, interpreting, and acting autonomously within complex environments. Among the challenges shaping this transition, autonomous driving stands out as one of the most ambitious, requiring the integration of control theory, artificial intelligence, and vehicle dynamics to translate algorithms into safe and physically coherent behavior. This thesis presents the design, implementation, and validation of a complete Path Following and Low-Level Control module for autonomous vehicles, fully developed within the ROS 2 framework.