The focus of this thesis project is to model and test autonomous driving systems, with particular emphasis on Adaptive Cruise Control (ACC) and Lane Keeping Assistant (LKA), using the MATLAB and Simulink environment. The vehicle of interest, referred to as the ego, and the vehicle in front of it, referred to as the lead, are both subjected to a dynamic model based on the single track model, which allows their dynamic behaviour during driving to be represented in an accurate and simplified manner. The simulations involve various working situations, in which the ego vehicle, based on suitable variables, activates the previously designed ACC or LKA control via an integrated control logic.