I implemented a pure pursuit controller for lateral control on a Toyota Prius in a ROS-Gazebo environment using a dynamic bicycle model of the car. The controller followed the pre-published static paths with accuracy within 2%.
Longitudinal control was managed by a PID controller, with the time response depicted below.
The following plot shows the cross-track error which stays within 200 mm. The axes are X: samples Y: Cross-Track Error as a fraction of car width.