Patent ID: RE40496

Claim:
A control system for an automotive vehicle having a vehicle body comprising: a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body; a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body; a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body; a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body; a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the first angular rate signal or the second angular rate signal and the lateral acceleration signal, a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the first or second angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.