In the last years a great effort has been devoted to the de-velopment of autonomous vehicles able to drive in a high range of speeds in semi-structured and unstructured environments. This article presents and discusses the software framework for Hardware-In-the-Loop (HIL) and Software-In-the-Loop (SIL) analysis that has been designed for developing and testing of con-trol laws and mission functionalities of semi-autonomous and au-tonomous vehicles. The ultimate goal of this project is to develop a robotic system, named RUMBy, able to autonomously plan and execute accurate optimal manoeuvres both in normal and in crit-ical driving situations and to be used as a test platform for ad-vanced decision and autonomous driving algorithms. RUMBy's hardware is a 1:6 scale gasoline engine R/C car with onboard telemetry and control systems. RUMBy's software consists of three main modules: the manager module that coordinates the other modules and take high level decision; the motion planner module which is based on a Nonlinear Receding Horizon Control (NRHC) algorithm; the actuation module that produces the driv-ing command for the vehicle. The article describes the details of RUMBy architecture and discusses its modular configuration that easily allows HIL and SIL tests.