Formula Symbol	Description
$a_{x,y}^c$	Vehicle’s acceleration (longitudinal or lateral)
${\beta }^c$	Vehicle’s side slip angle
${\delta }_{wheel}$	Wheel steering angle
${\mathbf{\Delta }(\mathit{x},\mathit{y})}_{OF}^c$	Distance between Vehicle and Optical Flow Point (Longitudinal and Lateral)
$\Delta x^g,\Delta y^g$	Distance between Vehicle and Object (Longitudinal and Lateral)
${\mathit{F}}_{OF}$	Optical flow vector (2D)
${\mathit{F}}_{SF}$	Scene flow vector (3D)
$\mathit{I}$	Image matrix (Pixels)
${\lambda }_z^c$	Look Angle between the Horizontal Line and the Line of Sight to an Object
$\mathit{M}$	Image Mask (Binary Matrix)
${\mu }_{tire road}$	Coefficient of friction between tire and road
$\mathit{O}$	Cluster of Points from Point Cloud
${\omega }_{wheel}$	Wheel speed
$\mathit{p}$	Individual Point from Pointcloud (3D Vector)
$\mathit{P}$	Point cloud (3D)
${\psi }^c$	Vehicle’s yaw angle
$R$	Distance between Vehicle and Object Point
$v^c$	Vehicle’s velocity over ground