Formula symbols	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
$M_z^{W_i}$	[N]	Tire self-aligning torque
${\omega }^{W_i}$	$\left[\mathrm{rad}/\mathrm{s}\right]$	Wheel speed
${\delta }^{W_i}$	$\left[\mathrm{rad}\right]$	Wheel steering angle
${\mu }_{\max }$	$[-]$	Coefficient of friction between tire and road
Abbreviations	Explanation
DLR	German Aerospace Center
EKF/UKF	Extended/Unscented Kalman filter
FMU/FMI	Functional mockup unit/interface
IMU	Inertial measurement unit
MHE	Moving horizon estimation/estimator
MOPS	Multi-objective parameter synthesis (DLR optimization tool)
ROMO	short for ROboMObil—DLR’s robotic electric vehicle
SAT	Tire self-aligning torque
STM	Single track model
TRFC	Tire road friction coefficient
WLS	Weighted least squares
Nomenclatures	Explanation
${\left(·\right)}^{{\mathrm{W}}_i}$	Quantity expressed in the $i$-th wheel robot coordinate system
${\left(·\right)}^{\mathrm{C}}$	Quantity expressed in the car coordinate system with origin in CoG
$\widetilde{\left(·\right)}$	Virtual measurand
$\widehat{\left(·\right)}$	Estimated state