Patent ID: 7835846

Claim:
A control system for providing a yaw-rate command signal, a lateral velocity command signal and a roll command signal in a vehicle, said control system comprising: a plurality of vehicle sensors for measuring vehicle parameters and providing sensor signals; a front tire lateral force calculator for calculating a lateral force on front tires of the vehicle using at least some of the plurality of sensor signals and providing a front tire lateral force signal; a rear tire lateral force calculator for calculating a lateral force on rear tires of the vehicle using at least some of the plurality of sensor signals and providing a rear tire lateral force signal, wherein the rear tire lateral force signal is modified so that it does not saturate in response to large side-slips; and a command calculator for calculating the yaw-rate command signal, the lateral velocity command signal and the roll command signal based on at least some of the plurality of sensor signals and the front and rear tire lateral force signals.