Patent ID: 7630805

Claim:
A method for controlling a safety device for a vehicle comprising: generating a roll attitude angle of a body frame with respect to an intermediate axis system to determine one of a plurality of vehicle dynamic variables; generating a pitch attitude angle of said body frame with respect to said intermediate axis system to determine one of a plurality of vehicle dynamic variables; generating an x velocity component of said body frame with respect to said intermediate axis system to determine one of a plurality of vehicle dynamic variables; generating a y velocity component of said body frame with respect to said intermediate axis system to determine one of a plurality of vehicle dynamic variables; generating a z velocity component of said body frame with respect to said intermediate axis system to determine one of a plurality of vehicle dynamic variables; transforming the plurality of vehicle dynamic variables from a sensor frame to a body frame as a function of vehicle dynamic sensor misalignments; generating a vehicle safety device control signal in response to said transformed dynamic variables; and controlling the vehicle safety device using the vehicle safety device control signal.