Table 2 Parameters of controllers.

Path tracking controller

λ₁, λ₂

τ₁, τ₂

r₁, r₂

k₁, ε₁

Υ₀, Υ₁, Υ₂

0.015, 0.0005

2000, 3000

1.6, 1.4

70, 100

0.01, 0.01, 0.01

Longitudinal speed tracking controller

η₁, η₂

p₁, p₂

k₂, ε₂

R₀, R₁, R₂

100, 1

1.6, 1.4

8, 0.01

0.01, 0.01, 0.01