Method and apparatus for compensating misalignments of a sensor system used in a vehicle dynamic control system

A method for controlling a vehicle dynamics control system comprising:

• determining a roll misalignment angle;
• determining a global roll angle as a function of the roll angle misalignment;
• determining a pitch misalignment angle;
• determining a global pitch angle as a function of the pitch angle misalignment;
• determining a yaw misalignment angle;
• determining a global yaw angle as a function of the yaw angle misalignment;
• and
• activating a safety system in response to said global roll angle, said global pitch angle, and said global yaw angle.

A control system for an automotive vehicle having a vehicle body comprising:

• a sensor system having a housing oriented within the vehicle body;
• a roll angular rate sensor positioned within the housing generating a roll angular rate signal corresponding to roll angular motion of the sensor housing;
• a yaw angular rate sensor positioned within the housing generating a yaw rate signal corresponding to a yaw motion of the sensor housing;
• a pitch angular rate sensor positioned within the housing generating a pitch rate signal corresponding to a pitch motion of the sensor housing;
• a lateral acceleration sensor positioned within the housing generating a lateral acceleration signal corresponding to a lateral acceleration of the sensor housing;
• a longitudinal acceleration sensor positioned within the housing generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the sensor housing;
• a vertical acceleration sensor positioned within the housing generating a vertical acceleration signal corresponding to the vertical acceleration of the sensor housing;
• a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle;
• a safety system;
• and
• a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said pitch angular rate sensor, said lateral acceleration sensor, said longitudinal acceleration sensor, said vertical acceleration sensor and said wheel speed sensor, said controller determining a roll misalignment angle;
• determining a pitch misalignment angle;
• determining a yaw misalignment angle as a function of said roll rate, said pitch rate, said yaw rate, said lateral acceleration, said longitudinal acceleration and said vertical acceleration, said controller generating a control signal for controlling said safety system in response to said roll misalignment angle, said pitch misalignment angle and said yaw misalignment angle.