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Abstract

A control system (18) for an automotive vehicle (10) having a vehicle body includes a sensor system (16) having housing (52) oriented within the vehicle body. Positioned within the housing (52) are a roll angular rate sensor (31), a yaw angular rate sensor (30), a pitch angular rate sensor (32), a lateral acceleration sensor (27), a longitudinal acceleration sensor (28), and a vertical acceleration sensor (29). The vehicle (10) also has a safety system (38). The controller (26) determines a roll misalignment angle, a pitch misalignment angle and a yaw misalignment angle as a function of the sensor outputs of the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration. The motion variables the vehicle along the vehicle body-fixed frames, including the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration, are then compensated based on the detected sensor misalignments and the sensor outputs of the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration. The controller (26) generates a control signal for controlling the safety system in response to the compensated roll rate, pitch rate, yaw rate, lateral acceleration, longitudinal acceleration and vertical acceleration.

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First Claim