Abbreviation	Explanation
ABX	AutoBox—rapid prototyping real-time controller from dSPACE GmbH
ACADO	Software environment and algorithm collection for automatic control and dynamic optimization [20]
ADAC	General German Automobile Club
BC	Boundary constraint
CAN	Controller area network—vehicle bus standard
CoG	Center of gravity
DLR	German Aerospace Center
Dymola	Modelica simulator from Dassault Systèmes
EKF	Extended Kalman filter
ESTM	Extended single track model
FIFO	First in first out (buffer)
FMI	Functional mockup interface
FMU	Functional mockup unit
GNSS	Global Navigation Satellite System
GPS	Global Positioning System
IMU	Inertial measurement unit
INS	Inertial navigation system
LAPACK	Linear algebra package
MABX2	MicroAutoBox II—embedded rapid prototyping real-time controller from dSPACE GmbH
MHE	Moving horizon estimation/estimator
Modelica	Object oriented modeling language for multiphysical systems
NG	Nonlinear gradient (descent search)
OxTS	Inertial measurement unit from Oxford Technical Solutions Ltd.
PFC	Path following control
QP	Quadratic program
ROboMObil	see ROMO
ROMO	short for ROboMObil—DLR’s robotic electric vehicle
RTI	Real-time iteration
SPKF	Sigma point Kalman filter
SQP	Sequential quadratic program
SR	Square-root
SR-EKF	Square-root extended Kalman filter
SR-UKF	Square-root unscented Kalman filter
TIPI	Time independent path interpolation
TM	Traction motor
UKF	Unscented Kalman filter
Wheel robot	Wheel unit that integrates propulsion, steering, and brake c.f. [1]