The motion control of autonomous vehicles with a modular, service-oriented system architecture poses new challenges, as trajectory-planning and -execution are independent software functions. In this paper, requirements for an encapsulated trajectory tracking control are derived and it’s shown that key differences to conventional vehicles with an integrated system architecture exist, requiring additional attention during controller design. A novel, encapsulated control architecture is presented that incorporates multiple extensions and support functions, fulfilling the derived requirements. It allows the application within the modular architecture without loss of functionality or performance. The controller considers vehicle stability and enables the yaw motion as an independent degree of freedom. The concept is applied and validated within the vehicles of the UNICARagil research project, that feature the previously described system architecture to increase flexibility of application by dynamically interconnecting services based on the current use-case.

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