Goal tracking controller is tightly coupled with the vehicle’s longitudinal controller and cannot be designed separately.

The singularity of arctangent function makes the Stanley’s tracking controller fragile in physical implementation. 

Vehicle lateral control does not have to deal with external disturbances.

The throttle and brakes are the main actuators used in longitudinal control. 

In the pure pursuit goal tracking control, a larger look-ahead distance makes the vehicle less agile.