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s of the 13 International Modelica Conference 57 March 4-6, 2019, Regensburg, Germany Enhanced Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS Schröder, Nikolas and Lenord, Oliver and Lange, Ralph Enhance Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS Nikolas Schröder1 Oliver Lenord2 Ralph Lange2 1Institute of Flight Mechanics and Control, University of Stuttgart, Germany, lrt86824@stud.uni-stuttgart.de 2Robert Bosch GmbH, Germany, {oliver.lenord, ralph.lange}@de.bosch.com