With the rapid development of communication and computation technology, Internet of Vehicles (IoV)-Technology und Automated Driving Systems (ADS) are increasingly used in cars. Ridepooling systems in the context of autonomous driving are poised to enhance traffic efficiency, curtail private car ownership, and diminish the utilization of societal resources. However, autonomous ride-pooling services pose certain challenges. Unlike conventional humanoperated vehicles, self-driving cars are required to handle interactions with both passengers and the ride-pooling system. The vehicle cooperates with onboard sensors and actuators based on the system-provided itinerary information, interacting with the carpooling system and passengers to fulfil the ride-pooling service. Hence, to address the necessity of validating and demonstrating interactive functionalities among autonomous vehicles, individuals, and systems within the development of a ride-pooling system, a hardware prototype utilizing Raspberry Pis was constructed using the waterfall development model. This prototype can simulate the interaction process in a ride-sharing service. Once the prototype acquires itinerary information from the system, it simulates the vehicle’s actions by initiating the engine and following path coordinates. At pick-up and drop-off locations, the prototype confirms passengers’ identities and counts using RFID sensor and seat belt systems respectively. While in transit, the prototype displays the information on its screen for passengers while detecting environmental data through environmental sensors and monitoring passengers for any undesired behaviour. And passengers also have the right to press the stop button at any time to terminate the trip. The prototype has the ability to instantly change the executing itinerary and respond to instant trips sent by the dynamic ride-pooling system. During this tripartite interaction, the prototype showcased the procedure involved in executing a ride-sharing service relying on autonomous vehicles, laying the foundation for the evolution of future prototypes and will be instrumental in conducting subsequent development and evaluation activities for a decentralized, privacy-preserving ride-pooling platform.