Urban mobility increasingly requires transport solutions that are sustainable, space-efficient, and flexible enough to operate across different infrastructure types. This thesis investigates a semi-autonomous cycle rickshaw as a novel vehicle concept for passenger and freight transport on both cycling and road infrastructure. The work focuses on the challenge of reliably executing pre-planned trajectories despite physical limitations such as restricted steering range and low-speed operation. To address this problem, a hierarchical control architecture is designed, implemented, and evaluated on the rickshaw prototype. The architecture combines high-level trajectory execution logic with low-level control of steering, braking, and, additionally, electric assistance, structured as a model predictive controller for steering, a PID controller for longitudinal motion, and an explicit safety supervision layer.