In this work it is proposed the development and implementation of models that enable an autonomous car prototype to make decisions and control its movements and the hardware and software components that facilitate communication between the control system and the various sensors, actuators, and other components of the vehicle. The object of this thesis is to study and analyze an old simulink architecture understanding its working principle and then improving it. Through the study of the simulink model all its sections are explored and explained, then by examining its behaviour and the functionality not present in the model some improvements are developed in order to guarantee a more complete and safe functionality.