In recent years, research in the field of autonomous driving has received great attention. While using full-scale vehicles involves high cost as well as time, pure computer simulations have their limitations. Hence, many researchers have taken the middle path by working on scaled down platforms which provide a balance between full-scale vehicles and pure computer simulations. In our previous research, we created a new framework for route guidance, as part of a path decision support tool (PDST), for off-road driving scenarios and demonstrated its efficacy using simulations. This paper illustrates how we develop a low-cost scaled vehicle-in-loop framework for testing our algorithms used in the PDST. A three-axis inertial measurement unit (IMU), wheel encoders, a global positioning system (GPS) unit and a mono-camera are mounted to a scaled vehicle for localization. We use JavaScript Object Notation (JSON) data format for information exchange using User Datagram Protocol (UDP) for implementing Vehicle-to-Vehicle (V2V) and MySQL server for Vehicle-to-infrastructure (V2I) communication.