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This paper presents an autonomous driving test held in Parma on urban roads and freeways open to regular traffic. During this test, the vehicle not only performed simple maneuvers, but it had to cope with complex driving scenarios as well, including roundabouts, junctions, pedestrian crossings, freeway junctions, and traffic lights. The test demonstrated the ability of the current technology to manage real situations and not only the well-structured and predictable ones. A comparison of milestones, challenges, and key results in autonomous driving is presented to highlight the novelty and the specific purpose of the test. The whole system is described: the vehicle; the software architecture; details about high-, medium-, and low-level control; and details about perception algorithms. A conclusion highlights the achieved results and draws possible directions for future development.Alberto Broggi received the Dr.Ing. (master's) degree in electronic engineering and the Ph.D. degree in information technology both from the Università degli Studi di Parma, Parma, Italy, in 1990 and 1994, respectively. He is currently a Full Professor with the Università degli Studi di Parma, where he is also the President and CEO of the VisLab spinoff company. He is an author of more than 150 publications on international scientific journals, book chapters, and refereed conference proceedings. Dr. Broggi served as Editor-in-Chief of IEEE TRANSACTIONS ON IN-TELLIGENT TRANSPORTATION SYSTEMS for the term 2004-