  Self-driving technology is expected to revolutionize different sectors and is
seen as the natural evolution of road vehicles. In the last years, real-world
validation of designed and virtually tested solutions is growing in importance
since simulated environments will never fully replicate all the aspects that
can affect results in the real world. To this end, this paper presents our
prototype platform for experimental research on connected and autonomous
driving projects. In detail, the paper presents the overall architecture of the
vehicle focusing both on mechanical aspects related to remote actuation and
sensors set-up and software aspects by means of a comprehensive description of
the main algorithms required for autonomous driving as ego-localization,
environment perception, motion planning, and actuation. Finally, experimental
tests conducted in an urban-like environment are reported to validate and
assess the performances of the overall system.
