System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system

A control system and method for an automotive vehicle includes a lateral acceleration sensor for generating a lateral acceleration signal, a yaw rate sensor for generating a yaw rate signal, and a safety system. The safety system and the sensors are coupled to a controller. The controller determines a front lateral tire force and a rear lateral tire force from the vehicle yaw rate signal and the vehicle lateral acceleration signal; determines a calculated lateral velocity from the front lateral tire force, the rear lateral tire force, and a bank angle; determines a calculated yaw rate from the front lateral tire force and the rear lateral tire force; and controls the safety system in response to the calculated lateral velocity and the calculated yaw rate.