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The control input derived from model predictive control (MPC) scheme depends on the receding horizon whose length needs to be determined. Design length is also a trade-off between computational complexity and optimization metrics. To this end, a framework for adaptive selection of the horizon length has been developed for discrete systems in previous works. In this paper, this framework is extended to continuous nonlinear systems. A new algorithm is presented to solve the problem of how to adaptively select the horizon length. Then, according to the traditional method and the robust MPC scheme based on tubes, the recursive feasibility and robustness of the algorithm (the adaptive horizon nonlinear model predictive control, called AH-NMPC) for quasi-infinite time domain adaptive horizontal continuous-time nonlinear systems are proved. Finally, the NMPC controller is used to perform path-tracking experiments on an autonomous vehicle to verify the good effects of the algorithm (AH-NMPC). [ABSTRACT FROM AUTHOR]