This repository provides the open data and materials supporting the results of the article “Nonlinear Variable-Gain Velocity Control of Autonomous Vehicles: Stability Analysis and Real-World Validation.” It contains the simulation model, real-world measurement data, the full set of figures used in the manuscript, and the scripts required to reproduce the plots and key quantitative results. Contents Simulation model: the full simulation model used for the stability and performance evaluations, including configuration files and parameters needed to reproduce the simulation scenarios reported in the paper. Measurement data: real-world experimental logs underlying the validation results and reported performance metrics. Figures: the manuscript figures in export-ready format, plus the underlying numerical “source data” used to generate each plot (where applicable). Plotting and analysis scripts: scripts to load the datasets and reproduce the manuscript plots and reported summary statistics. Reproducibility notesA data dictionary and README files are included to describe variable names, units, sampling rates, coordinate conventions, and scenario identifiers. The provided scripts generate the figures and the values behind the reported statistics (e.g., means, standard deviations, and other aggregates) from the shared datasets. LicenseAll contents are released under Creative Commons Attribution 4.0 International (CC BY 4.0), unless stated otherwise within specific subfolders/files. CitationIf you use this dataset or materials, please cite the associated article and this Zenodo record (DOI).