Formula symbol	Unit	Description
${\beta }^{\mathrm{C}}$	$\left[\mathrm{rad}\right]$	Vehicle’s side slip angle
$v^{\mathrm{C}}$	$\left[\mathrm{m}/\mathrm{s}\right]$	Vehicle’s velocity over ground
${\dot{\psi }}^{\mathrm{C}}$	$\left[\mathrm{rad}/\mathrm{s}\right]$	Vehicle’s yaw rate
${\psi }_{\mathrm{C}}$	$\left[\mathrm{rad}\right]$	Vehicle’s yaw angle
$x_{\mathrm{C}}$	$\left[\mathrm{m}\right]$	Vehicle’s position in x direction
$y_{\mathrm{C}}$	$\left[\mathrm{m}\right]$	Vehicle’s position in y direction