A control system (24) for controlling a safety system (40) of an
automotive vehicle includes a plurality of wheel speed sensors (30) generating
a plurality of wheel velocity signals, a steering angle sensor (39) generating
a steering actuator angle signal, a yaw rate sensor (28) generating a yaw
rate signal, a longitudinal acceleration sensor (32) generating a longitudinal
acceleration signal and a pitch angle generator generating a pitch angle signal
and a controller (26). The controller (26) generates a longitudinal
vehicle velocity in response to the plurality of wheel speed signals, the steering
angle signal, the yaw rate signal, the lateral acceleration signal and the pitch
rate signal. The controller (26) may determine a slip-related longitudinal
velocity and a non-slip longitudinal velocity as intermediate steps.
