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

1. A method of controlling a vehicle comprising:

determining a front lateral tire force;

determining a rear lateral tire force;

determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force;

determining a load transfer correction;

determining a final linear lateral velocity in response to the linear sideslip angle and a load transfer correction; and

controlling the vehicle in response to the final linear lateral velocity.

2. A method as recited in claim 1 wherein the step of determining a load transfer correction further comprises determining a load transfer correction in response to a relative roll angle.

3. A method as recited in claim 1 wherein the step of determining a load transfer correction further comprises determining a load transfer correction in response to a relative roll angle and a roll gradient.

4. A method as recited in claim 1 wherein the step of determining a load transfer correction further comprises determining a load transfer correction in response to a roll gradient.

5. A method as recited in claim 1 wherein the step of determining a load transfer correction further comprises determining a load transfer correction in response to a change of cornering stiffness reduction factor.

6. A method as recited in claim 1 wherein the step of determining a load transfer correction further comprises the step of determining a load transfer correction in response to a change of cornering stiffness reduction factor, a relative roll angle and a roll gradient.

7. A method as recited in claim 1 the steps of determining a linear sideslip angle further comprises the steps of:

determining a reference lateral velocity at a rear axle in response to a roll gradient: and

determining the linear sideslip angle in response to the reference lateral velocity.

8. A method as recited in claim 7 further comprising determining a reference lateral velocity at a rear axle in response to the roll gradient and a relative roll angle.

9. A method as recited in claim 1 further comprising the steps of:

determining a reference lateral velocity at a rear axle in response to a relative roll angle; and

determining the linear sideslip angle in response to the reference lateral velocity.

10. A method as recited in claim 1 further comprising the steps of:

determining a reference lateral velocity at a rear axle in response to a yaw rate; and

determining the linear sideslip angle in response to the reference lateral velocity.

11. A method as recited in claim 1 further comprising the steps of:

determining a reference lateral velocity at a rear axle in response to a moving reference frame yaw rate; and

determining the linear sideslip angle in response to the reference lateral velocity.

12. A method as recited in claim 1 wherein the step of determining a final linear lateral velocity further comprises determining a high frequency portion, the high frequency portion is determined in response to a lateral acceleration, a yaw rate and a longitudinal vehicle velocity.

13. A method as recited in claim 1 wherein the step of determining a final linear lateral velocity further comprises determining the final linear lateral velocity in response to a low frequency portion and a high frequency portion.

14. A method as recited in claim 13 wherein the high frequency portion is determined in response to a lateral acceleration.

15. A method as recited in claim 13 wherein the high frequency portion is determined in response to a lateral acceleration and a yaw rate.

16. A method as recited in claim 1 wherein determining a front lateral tire force comprises determining the front lateral tire force in response to a yaw rate, a pitch rate, a roll rate, a lateral acceleration and a vertical acceleration.

17. A method as recited in claim 1 wherein determining a rear lateral tire force comprises determining the rear lateral tire force in response to a rate, a pitch rate, a roll rate, a lateral acceleration and a vertical acceleration.

18. A method of controlling a vehicle comprising:

determining a moving road plane front lateral tire force;

determining a moving road plane rear lateral tire force;

determining a linear sideslip angle from the moving road plane front lateral tire force and the moving road plane rear lateral tire force; and

controlling the vehicle in response to the linear sideslip angle.

19. A method as recited in claim 18 further comprising the step of determining a final linear lateral velocity in response to the linear sideslip angle.

20. A method as recited in claim 18 further comprising determining a load transfer correction, and wherein determining a linear sideslip angle comprises determining a final linear sideslip angle in response to the load transfer correction and the linear sideslip angle.