| Symbol | Degree of freedom |
| Ψ | yaw angle of the frame |
| δ | steering angle of the front tire |
| ϕ | rolling angle of the frame |
| θ | pitching angle of the frame |
| γRR, γRL, γF | rotation angle per tire |
| XV, YV | longitudinal and lateral translation of the vehicle |
| Zbody | vertical translation of frame body CG |