In the last few years, shared mobility is increasing vs personal owned vehicles; one application that has become an important element in the field of Automated driving and urban mobility is the autonomous shuttle bus. The introduction into the automotive market is thought to be a gradual process that involves progressive work starting from restricted areas to reach robotaxi from 2030 by increasing the ODD. In the present work, the AD system of a shuttle bus driving in a restricted area is considered. In this functionality, the vehicle should be capable of reacting to the surrounding environment, making decisions based on sensors data, and consequently performing driving manoeuvres in autonomous way, since the considered level of automation is SAE L4.