## 3 Results
### Driving Scenarios and Environment Perception  
In Figures 8-10, the planned trajectory is represented by a red solid line, while the search tree is represented by a dashed black line. The initial vehicle position is labeled with a red asterisk and the goal position is indicated by a red triangle. The detected cones are represented with black dots. In the first maneuver, the self-driving vehicle travels a straight road portion with a reference longitudinal speed of 22.2 m/s, while in the second and third one the autonomous racing vehicle travels a left/right constant radius turn of 50 m with a reference longitudinal speed set at 13.8 m/s. \begin{table}
\begin{tabular}{c c c} \hline  & **Raspberry Pi 4B** & **Speedgoat Baseline** \\ \hline CPU & Broadcom BCM2711 quad-core & Intel Celeron 2 GHz 4 cores \\ Cortex-A72 64-bit SoC @ 1.5 GHz & Intel Celeron 2 GHz 4 cores \\ Memory & 4 GB LPDDR4 & 4 GB DDR3 \\ EEE 802.11b/g/n/ac wireless & 1 \(\times\) USB 3.0 and 2 \(\times\) USB 2.0 \\ Network & Bluetooth 5.0 & Gigabit Ethernet 2 (Intel L210) \\ Gigabit Ethernet & & \\ I/O & USB, 40-pin GPIO header & 4 \(\times\) mPCIe \\ OS & Debian, Raspberry Pi OS & Simulink Real-TimeTM \\ Power & 5 V DC via USB-C connector & 8–36 VDC Input Range \\ \hline \end{tabular}
\end{table} 
Table 2: Hardware specification of the Raspberry Pi 4B board and Speedgoat Baseline real-time target machine. Figure 8: Generated path (solid, red) and search tree expansion (dashed, black) for a straight road portion, with obstacles (black, dots), starting vehicle position (red asterisk) and goal point (red triangle). Figure 10: Generated path (solid, red) and search tree expansion (dashed, black) for a right turn, with obstacles (black, dots), starting vehicle position (red asterisk) and goal point (red triangle). Figure 9: Generated path (solid, red) and search tree expansion (dashed, black) for a left turn, with obstacles (black, dots), starting vehicle position (red asterisk) and goal point (red triangle). The vehicle main states are reported in Figures 11-13 for the maneuvers performed in Figures 8-10, respectively. In Figures 11-13, the front wheel steering angle \(\delta\) and the longitudinal acceleration \(a_{x}\) commands are shown in subfigures a and b. Subfigure c illustrates the reference longitudinal speed \(V_{ref}\) (red dashed line) with respect to the actual vehicle speed \(V_{x}\) (black solid line). The lateral velocity \(V_{y}\) is shown in subfigure d, while the cross-track error \(e_{1}\) (black line) and the angle \(e_{2}\) (blue line) are shown in subfigure e for each maneuver. Figure 8 represents a frame sensed on a straight road portion. As shown in Figure 11, the vehicle follows accurately the speed profile. The front wheel steering angle remains steady at 0 rad (Figure 11a). The longitudinal acceleration has a maximum peak value of 9.5 m/s\({}^{2}\) (Figure 11b), while the longitudinal velocity rapidly reaches its steady-state value of 22.2 m/s (Figure 11c). Lateral velocity (Figure 11d) and the cross-track error \(e_{1}\) and the angle \(e_{2}\) remain null for all the simulation time (Figure 11e). Figure 9 represents the frame sensed during a left turn maneuver. The final goal is located almost on the centerline of the track defined by the cones. As shown in Figure 12, the vehicle follows accurately the speed profile (Figure 12c) and the longitudinal acceleration reaches about 8 m/s\({}^{2}\) (Figure 12b). The front wheel steering angle \(\delta\) increases up to 0.2 rad and then decreases till stabilizing in steady-state condition at 0.02 rad (Figure 12a). The cross-track error \(e_{1}\) and the relative yaw angle \(e_{2}\) oscillate in the first phase of the maneuver and then stabilize to null values (Figure 12e). Figure 10 represents the frame sensed during a right turn maneuver. The final goal is located almost on the midpoint of the line generated by the two rows of cones, approximately 15 m far from the vehicle local position.