Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine lateral velocity

A method of controlling a vehicle comprising:

• determining a yaw rate from a yaw rate sensor;
• determining a pitch rate from pitch rate sensor;
• determining a roll rate from a roll rate sensor;
• determining a pitch rate from a pitch rate sensor;
• determining a lateral acceleration from a lateral acceleration sensor;
• a vertical acceleration from a vertical acceleration sensor;
• determining a front lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration and vertical acceleration;
• determining a rear lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration and vertical acceleration;
• determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force;
• determining a linear lateral velocity in response to the linear sideslip angle;
• and
• controlling the vehicle in response to the linear lateral velocity.