The thesis project has been carried out in collaboration with Danisi Engineering, a society that takes care purely of the development of engineering solutions and prototyping of vehicles for the automotive industry. One of the main activities of interest to the company is the research and development of ADAS (Advanced Driver-Assistance systems) techniques, autonomous driving systems that will be mandatory on all vehicles registered from 2022, which are made through the use of the state-of-the-art dedicated software and hardware. The aim of this thesis activity is to implement an autonomous driving maneuver, specifically a Lane-Keeping, in a Matlab/Simulink environment and to ensure that this is perfectly realized by a real custom vehicle, created in VI-CarRealTime, on two kinds of realistic scenarios, one urban and one extra-urban, designed using a simulation software called Software X, for copyright reasons.