Patent ID: 7451033

Claim:
A system for controlling a safety system of an automotive vehicle, said system comprising: a plurality of wheel speed sensors; a longitudinal acceleration sensor for generating a longitudinal acceleration signal; a vehicle speed sensor for generating a vehicle speed signal; a lateral acceleration sensor for generating a lateral acceleration signal; a yaw rate sensor for generating a yaw rate signal; and a controller coupled to said longitudinal acceleration sensor, said vehicle speed sensor, said lateral acceleration sensor, and said yaw rate sensor; wherein said controller is operable to determine a stability index and provide a first observer for determining a reference longitudinal velocity in response to said longitudinal acceleration signal, said yaw rate signal, a pitch attitude, and vehicle speed from said wheel speed sensors; wherein said controller is operable to determine a reference lateral velocity in response to said lateral acceleration signal, said yaw rate signal, a roll attitude, a pitch attitude, and vehicle speed from said wheel speed sensors; wherein said controller is operable to provide a second observer for determining a second longitudinal velocity in response to said longitudinal acceleration signal, said yaw rate signal, a lateral velocity, said pitch attitude, and a first adjustment based on said reference longitudinal velocity; wherein said controller is operable to determine a second lateral velocity in response to said lateral acceleration signal, said yaw rate signal, a roll attitude, a pitch attitude, and a second adjustment based on said reference lateral velocity; wherein said controller is operable to determine an output lateral velocity and an output longitudinal velocity in response to said first observer, said second observer, and said stability index; and wherein said controller is operable to control said safety system in response to said output lateral velocity and said output longitudinal velocity.