Automated Driving (AD) has become one of the most active research areas in control engineering, owing to its potential to enhance road safety, improve traffic efficiency, and reduce environmental impact. Within this framework, the development of SAE Level 4 Autonomous Vehicles (AVs) poses the fundamental challenge of designing Motion Planning (MP) and Control strategies capable of generating safe, comfortable, and efficient trajectories in complex traffic environments. This thesis extends a previously developed control architecture for AD, originally conceived for standard maneuvers such as lane keeping and overtaking, to more complex and interactive contexts, namely unsignalized intersections, where mutual interactions and dependencies among vehicles play a critical role.