# Table 1 Symbol and definition of the tracking system

Parameters Unit Description
$$x/y$$ $${\text{ m}}$$ Coordinates of center of gravity (CG)
$$\varphi$$ $${\text{rad}}$$ Yaw angle of vehicle body (in inertial coordinates system, OXY)
$$r$$ $${\text{rad}}/{\text{s}}$$ Yaw rate of vehicle body
$$v_{x} /v_{y}$$ $${\text{m}}/{\text{s}}$$ Longitudinal/lateral velocity (in local coordinates system, oxy)
$$e_{y}$$ $${\text{m}}$$ Offset of CG from the reference point
$$e_{\varphi }$$ $${\text{rad}}$$ Orientation error of yaw angle with respect to the reference trajectory
$$e_{v}$$ $${\text{m}}/{\text{s}}$$ Error between the current and the desired longitudinal velocity
$$m$$ $${\text{kg}}$$ Vehicle mass
$$I_{Z}$$ $${\text{kg}} \cdot {\text{m}}^{2}$$ Yaw moment of inertia of the vehicle
$$l_{f} /l_{r}$$ $${\text{m}}$$ Distance from CG to the front/real axle
$$F_{xf} /F_{xr}$$ $${\text{N}}$$ Longitudinal tire force of the front/rear wheel
$$F_{yf} /F_{yr}$$ $${\text{N}}$$ Lateral tire force of the front/rear wheel
$$C_{f} /C_{r}$$ $${\text{N}}/{\text{rad}}$$ Cornering stiffness of the front/real wheel
$$\alpha_{f} /\alpha_{r}$$ $${\text{rad}}$$ Slip angle of the front/ rear wheel
$$F_{x}$$ $${\text{N}}$$ Generalized longitudinal force
$$\delta_{f}$$ $${\text{rad}}$$ Front wheel steering angle
$$C_{R}$$ $${\text{m}}^{ - 1}$$ Road curvature 