The recent development of a new kind of public transporlation system relies on a particular douhlesteering kinematic structure enhancing maneuverability in clulteml environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy Capacities, the hi-steerahle car ought to combine suitably and safely a se1 of abilities: simultaneous localisation and environment modelling, motion planning and motion execution amidst moderately dynamic obstacles. In this paper we address the integration of these four essential autonomy abilities into a single application. Specifically, we aim at reactive execution of planned motion. We address the fusion of controls issued from the control law and the obstacle avoidance module using prohahilistic techniques.