An automated driving system is a combination of various components that are capable to perceive, make decisions and operate an automobile: everything is done by electronics and machinery, the human driver leaves all the responsibility to the system. This system introduces automation into road traffic and includes handling of the vehicle, destination and awareness of surroundings. The focus of this thesis is to implement a dynamic motion planning algorithm in order to control continuously a vehicle from a start to a goal position avoiding collisions with known obstacles, both static and dynamic (people on the streets, other cars, bikes and so on).