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Résumé : This chapter begins with the introduction of the basic tire and longitudinal and lateral vehicle dynamics models that will be used in the rest of the book. It introduces the path geometry, combining both distance to path and orientation error at a variable preview distance. The chapter also introduces and compares the simple pure pursuit and the more complicated Stanley steering control methods for path tracking. The dynamics of a road vehicle for following a path or executing an evasive maneuver is actually controlled by indirectly manipulating the tire forces using the direct actuation interfaces of steering, throttle, and brake. The chapter also presents a discussion of how the linearized path-tracking model developed and presented can be modified to form a path-tracking model for driving in reverse as an ending note.