Autonomous driving represents a pivotal and extensively researched technology, characterized by features that are progressively finding their way into commercial vehicles. This technology relies on a combination of sensors, actuators, and sophisticated software, seeking to improve the safety and reliability of vehicles, aiming at the replacement of human drivers. This work targets the path tracking problem i.e. the automatic steering of the vehicle in order to follow a specific path with no human action; this task is undertaken in both simulated and real experimental environments. The employed control algorithm is the Enhanced Model Reference Adaptive Control (EMRAC), it is an adaptive control design method that allows the controlled variables of a plant to track a given reference model.