Hey,
Here is a configuration sample which may work with latest HAProxy version:
stick-table type string len 32 size 10K
stick store-response set-cookie(sessionID)
stick store-response set-cookie(routeID)
sitck on cookie(sessionID) if { hdr_sub(Cookie) sessionID }
stick on cookie(routeID) if { hdr_sub(Cookie) routeID }
stick on url_param(sessionID) if { url_sub sessionID }
stick on url_param(routeID) if { url_sub routeID }
I've not tested it, but it should work.
Of course, you can combined several ACLs to be more accurate.
cheers