Method and apparatus for determining lateral velocity of a motor vehicle in closed form for all road and driving conditions

A method of controlling a vehicle comprising:

• measuring a vehicle speed;
• measuring a roll rate of the vehicle;
• measuring a yaw rate of the vehicle;
• measuring a lateral acceleration of the vehicle;
• measuring a longitudinal acceleration of the vehicle;
• and
• determining a lateral velocity as a function of the longitudinal acceleration, the vehicle speed, the lateral acceleration, the yaw rate and the roll rate;
• and
• controlling a safety system in response to the lateral velocity.

A method of controlling a vehicle comprising:

• measuring a vehicle speed;
• measuring a roll rate of the vehicle;
• measuring a yaw rate of the vehicle;
• measuring a lateral acceleration of the vehicle;
• measuring a longitudinal acceleration of the vehicle;
• determining a steady state pitch angle as a function of the longitudinal acceleration and the vehicle speed;
• determining a steady state roll angle as function of the lateral acceleration, the yaw rate, and the vehicle speed;
• determining a sliding index as a function of the steady state pitch angle, the steady state roll angle and the roll rate;
• and
• determining a lateral velocity as a function of the sliding index;
• and
• controlling a safety system in response to the lateral velocity.