Boundary Value Problem (bvp5c) Equations

I found couple of equations to solve [1]:

Authors mentioned that, For solving the two point boundary value problem, the “bvp5c” function in MATLAB software is used.

I checked bvp5c function [2]; in here, there are 3 different functions:

sol = bvp5c(odefun,bcfun,solinit)

- function to solve

- boundary conditions

- initial guess of solution

I don't know; which fuction consist from which equations. Actually, author were classified as 3 groups ; but for expample; there are 3 initial guesses ; how can I write them together in one function ?

Thank you in advance.

[1] Mashadi, B., & Majidi, M. (2014). Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle. Latin American Journal of Solids and Structures, 11(14), 2555–2572. https://doi.org/10.1590/S1679-78252014001400002

[2] Mathworks website, https://www.mathworks.com/help/matlab/ref/bvp5c.html