Integrated collision prediction and safety systems control for improved vehicle safety

A pre-crash sensing system for an automotive vehicle having a brake system coupled to a countermeasure system, said pre-crash sensing system comprising:

• a remote object sensor generating a target range signal and target relative velocity signal;
• a vehicle dynamics sensor generating a vehicle dynamics signal;
• and
• a controller coupled to said object sensor, vehicle dynamics sensor, and brake system, said controller predicting a host vehicle trajectory in response to the host vehicle dynamic signal, determining an azimuth angle for the target object, monitoring the brake system status, determining an actuation value in response to the target range signal, the target relative velocity signal, the host vehicle trajectory, the target azimuth angle, and brake system status and activating selected countermeasures from the countermeasure system in response to the actuation value.