Roll over stability control for an automotive vehicle

• US 20040199314A1
• Filed: 04/19/2004
• Published: 10/07/2004
• Est. Priority Date: 12/21/1999
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Meyers, Joseph Carr, Brown, Todd Allen
• Granted Patent: US 7,027,903 B2
• Time in Patent Office: Days
• US Class Current: 701/38
• CPC Class Codes: B60G 2400/0511 Roll angle
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/64 Wheel forces, e.g. on hub, spindle or bearing
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/215 by applying a braking action on each wheel individually
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60T 8/243 for roll-over protection
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2030/043 : about the roll axis
• CPC Class Codes: B60W 2520/18 : Roll
• CPC Class Codes: B60W 2552/00 : Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/15 : Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/18 : Roll
• CPC Class Codes: B60W 2720/403 : between front and rear axle
• CPC Class Codes: B60W 30/04 : related to roll-over prevention
• CPC Class Codes: B62D 6/00 : Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A stability control system (24) for an automotive vehicle as includes a plurality of sensors (28-37) sensing the dynamic conditions of the vehicle and a controller (26) that controls a distributed brake pressure to reduce a tire moment so the net moment of the vehicle is counter to the roll direction. The sensors include a speed sensor (30), a lateral acceleration sensor (32), a roll rate sensor (34), and a yaw rate sensor (20). The controller (26) is coupled to the speed sensor (30), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28). The controller (26) determines a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate. The controller (26) changes a tire force vector using brake pressure distribution in response to the relative roll angle estimate.

Claims

36. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle estimate; and

generating a tire moment in response to a roll angle estimate, so that a net moment on the vehicle is counter to a roll direction.

37. A method as recited in claim 36 wherein the tire moment approaches a gravity moment.

38. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration.

39. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration and yaw rate.

40. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration vehicle speed and yaw rate.

41. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a lateral acceleration and a steering velocity.

42. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll rate.

43. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a vehicle speed.

44. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a yaw rate a pitch angle.

45. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch rate.

46. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch angle.

47. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a global positioning system signal.

48. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering angle.

49. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering velocity.

50. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel speed.

51. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel normal load estimate.

52. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle.

53. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll acceleration.

54. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a longitudinal acceleration.

55. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a reference roll angle.

56. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a relative roll angle.

57. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a previous roll angle estimate.

58. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a reference roll angle.

59. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a body roll angle initialization.

60. A method as recited in claim 59 wherein the body roll angle initialization is determined in response to a lateral acceleration.

61. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to an instantaneous roll angle reference.

62. A method as recited in claim 61 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

63. A method as recited in claim 36 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

64. A method as recited in claim 36 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

65. A method as recited in claim 64 wherein the model roll angle is determined in response to a chassis roll observer.

66. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle time constant.

67. A method as recited in claim 66 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

68. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to body slip.

69. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll responsive control signal; and

generating a tire moment in response to the roll responsive control signal so that a net moment on the vehicle is counter to a roll direction.

70. A method as recited in claim 69 wherein the tire moment approaches a gravity moment.

71. A method as recited in claim 69 wherein determining a roll responsive signal comprises determining a roll responsive control signal in response to a lateral acceleration.

72. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration and yaw rate.

73. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration, vehicle speed and yaw rate.

74. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a lateral acceleration and a steering velocity.

75. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll rate.

76. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a vehicle speed.

77. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a yaw rate a pitch angle.

78. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch rate.

79. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch angle.

80. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive;

control signal in response to a global positioning system signal.

81. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering angle.

82. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering velocity.

83. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel speed.

84. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel normal load estimate.

85. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle.

86. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll acceleration.

87. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a longitudinal acceleration.

88. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle.

89. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a reference roll angle.

90. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a relative roll angle.

91. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a previous roll angle estimate.

92. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a reference roll angle.

93. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a body roll angle initialization.

94. A method as recited in claim 93 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

95. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to an instantaneous roll angle reference.

96. A method as recited in claim 69 wherein the roll angle signal reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

97. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle estimate.

98. A method as recited in claim 69 wherein the roll responsive control signal is determined in response to a reference roll angle and a body roll integration.

99. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a model roll angle.

100. A method as recited in claim 99 wherein the model roll responsive control signal is determined in response to a chassis roll observer.

101. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle time constant.

102. A method as recited in claim 101 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

103. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to body slip.

104. A method of controlling roll stability of a vehicle comprising the steps of:

determining a vehicle roll condition; and

generating a tire moment in response to the vehicle roll condition so that a net moment on the vehicle is counter to a roll direction.

105. A method as recited in claim 104 wherein the tire moment approaches a gravity moment.

106. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration.

107. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration and a yaw rate.

108. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration, a yaw rate and a vehicle speed.

109. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a lateral acceleration and a steering velocity.

110. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll rate.

111. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a vehicle speed.

112. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a yaw rate a pitch angle.

113. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch rate.

114. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch angle.

115. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a global positioning system signal.

116. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering angle.

117. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering velocity.

118. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel speed.

119. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel normal load estimate.

120. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle.

121. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll acceleration.

122. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a longitudinal acceleration.

123. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle.

124. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a reference roll angle.

125. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a relative roll angle.

126. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a previous roll angle estimate.

127. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a reference roll angle.

128. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a body roll angle initialization.

129. A method as recited in claim 128 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

130. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to an instantaneous roll angle reference.

131. A method as recited in claim 130 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

132. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle estimate.

133. A method as recited in claim 132 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

134. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a model roll angle.

135. A method as recited in claim 134 wherein the model roll angle is determined in response to a chassis roll observer.

136. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle time constant.

137. A method as recited in claim 136 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

138. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to body slip.

139. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle of the vehicle; and

applying a brake pressure distribution in response to the roll angle to prevent the vehicle from rolling over.

140. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration.

141. A method as recited in claim 139 determining a roll angle comprises determining a roll angle in response to a lateral acceleration and a yaw rate.

142. A method as recited in claim 139 determining a roll angle comprises determining a roll angle in response to a lateral acceleration, vehicle speed and a yaw rate.

143. A method as recited in claim 139 wherein determining a roll angle comprises determining a lateral acceleration and a steering velocity.

144. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a roll rate.

145. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a vehicle speed.

146. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a yaw rate a pitch angle.

147. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a pitch rate.

148. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a pitch angle.

149. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a global positioning system signal.

150. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a steering angle.

151. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a steering velocity.

152. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a wheel speed.

153. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a wheel normal load estimate.

154. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle.

155. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a roll acceleration.

156. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a longitudinal acceleration.

157. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a roll angle.

158. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a reference roll angle.

159. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a relative roll angle.

160. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a previous roll angle estimate.

161. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a reference roll angle.

162. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a body roll angle initialization.

163. A method as recited in claim 162 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

164. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to an instantaneous roll angle reference.

165. A method as recited in claim 164 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

166. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a roll angle estimate.

167. A method as recited in claim 166 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

168. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

169. A method as recited in claim 168 wherein the model roll angle is determined in response to a chassis roll observer.

170. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle time constant.

171. A method as recited in claim 170 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

172. A method as recited in claim 139 wherein determining a roll angle comprises determining a roll angle in response to body slip.

173. A method of controlling roll stability of a vehicle having a front brake and a rear brake comprising:

determining a roll condition of the vehicle; and

determining a brake pressure distribution between the front brake and the rear brake in response to the roll condition.

174. A method as recited in claim 173 wherein determining a brake pressure distribution comprises determining a right side brake force distribution by determining an amount of front right brake force and rear right brake force.

175. A method as recited in claim 173 wherein determining a brake pressure distribution comprises determining a left side brake force distribution by determining an amount of front left brake force and rear left brake force.

176. A method as recited in claim 173 wherein determining a roll condition comprises determining a lateral acceleration.

177. A method as recited in claim 173 wherein determining a roll condition comprises determining a lateral acceleration and a yaw rate.

178. A method as recited in claim 173 wherein determining a roll condition comprises determining a lateral acceleration, a vehicle speed and a yaw rate.

179. A method as recited in claim 173 wherein determining a roll condition comprises determining a lateral acceleration and a steering velocity.

180. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a roll rate.

181. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a vehicle speed.

182. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a yaw rate a pitch angle.

183. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a pitch rate.

184. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a pitch angle.

185. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a global positioning system signal.

186. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a steering angle.

187. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a steering velocity.

188. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a wheel speed.

189. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a wheel normal load estimate.

190. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle.

191. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a roll acceleration.

192. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a longitudinal acceleration.

193. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a roll angle.

194. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a reference roll angle.

195. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a relative roll angle.

196. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a previous roll angle estimate.

197. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a reference roll angle.

198. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a body roll angle initialization.

199. A method as recited in claim 198 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

200. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to an instantaneous roll angle reference.

201. A method as recited in claim 200 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

202. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

203. A method as recited in claim 202 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

204. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

205. A method as recited in claim 204 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

206. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a model roll angle.

207. A method as recited in claim 206 wherein the model roll angle is determined in response to a chassis roll observer.

208. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle time constant.

209. A method as recited in claim 208 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

210. A method as recited in claim 173 wherein determining a roll condition comprises determining a roll condition in response to body slip.

211. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle estimate; and

applying a brake pressure distribution in response to the roll angle estimate to prevent the vehicle from rolling over.

212. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration.

213. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration and a yaw rate.

214. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration, a vehicle speed and a yaw rate.

215. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a lateral acceleration and a steering velocity.

216. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll rate.

217. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a vehicle speed.

218. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a yaw rate a pitch angle.

219. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch rate.

220. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch angle.

221. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a global positioning system signal.

222. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering angle.

223. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering velocity.

224. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel speed.

225. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel normal load estimate.

226. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle.

227. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll acceleration.

228. A method as recited in claim 211 determining a roll angle estimate comprises determining a roll angle estimate in response to a longitudinal acceleration.

229. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a reference roll angle.

230. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a relative roll angle.

231. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a previous roll angle estimate.

232. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a reference roll angle.

233. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a body roll angle initialization.

234. A method as recited in claim 233 wherein the body roll angle initialization is determined in response to a lateral acceleration.

235. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to an instantaneous roll angle reference.

236. A method as recited in claim 235 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

237. A method as recited in claim 211 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

238. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle in response to a model roll angle.

239. A method as recited in claim 238 wherein the model roll angle is determined in response to a chassis roll observer.

240. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle time constant.

241. A method as recited in claim 240 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

242. A method as recited in claim 211 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to body slip.

243. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll responsive control signal; and

applying a brake pressure distribution in response to the roll responsive control signal to prevent the vehicle from rolling over.

244. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration.

245. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration and a yaw rate.

246. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration, a vehicle speed and a yaw rate.

247. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a lateral acceleration and a steering velocity.

248. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration, a vehicle speed and a yaw rate.

249. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll rate.

250. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a vehicle speed.

251. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a yaw rate a pitch angle.

252. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch rate.

253. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch angle.

254. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a global positioning system signal.

255. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering angle.

256. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering velocity.

257. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel speed.

258. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel normal load estimate.

259. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle.

260. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll acceleration.

261. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a longitudinal acceleration.

262. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle.

263. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a reference roll angle.

264. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a relative roll angle.

265. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a previous roll angle estimate.

266. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a reference roll angle.

267. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a body roll angle initialization.

268. A method as recited in claim 267 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

269. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to an instantaneous roll angle reference.

270. A method as recited in claim 269 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

271. A method as recited in claim 243 wherein the roll responsive control signal is determined in response to a reference roll angle and a body roll integration.

272. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle estimate.

273. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a model roll angle.

274. A method as recited in claim 273 wherein the model roll responsive control signal is determined in response to a chassis roll observer.

275. A method as recited in claim 243 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle time constant.

276. A method as recited in claim 275 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

277. A method as recited in claim 243 wherein the roll responsive control signal is determined in response to body slip.

278. A method of controlling roll stability of a vehicle comprising the steps of:

determining a vehicle roll condition; and

applying a brake pressure distribution in response to the vehicle roll condition to prevent the vehicle from rolling over.

279. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration.

280. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration and a yaw rate.

281. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration, a vehicle speed and a yaw rate.

282. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a lateral acceleration and a steering velocity.

283. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll rate.

284. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a vehicle speed.

285. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a yaw rate a pitch angle.

286. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch rate.

287. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch angle.

288. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a global positioning system signal.

289. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering angle.

290. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering velocity.

291. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel speed.

292. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel normal load estimate.

293. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle.

294. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll acceleration.

295. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a longitudinal acceleration.

296. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle.

297. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a reference roll angle.

298. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a relative roll angle.

299. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a previous roll angle estimate.

300. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a reference roll angle.

301. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a body roll angle initialization.

302. A method as recited in claim 301 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

303. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to an instantaneous roll angle reference.

304. A method as recited in claim 303 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

305. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle estimate.

306. A method as recited in claim 305 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

307. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a model roll angle.

308. A method as recited in claim 307 wherein the model roll angle is determined in response to a chassis roll observer.

309. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle time constant.

310. A method as recited in claim 309 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

311. A method as recited in claim 278 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to body slip.

312. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle of the vehicle; and

reducing a tire force vector in response to roll angle to prevent the vehicle from rolling over.

313. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration.

314. A method as recited in claim 312 determining a roll angle comprises determining a roll angle in response to a lateral acceleration and yaw rate.

315. A method as recited in claim 312 determining a roll angle comprises determining a roll angle in response to a lateral acceleration, yaw rate vehicle speed.

316. A method as recited in claim 312 wherein determining a roll angle comprises determining a lateral acceleration and a steering velocity.

317. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a roll rate.

318. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a vehicle speed.

319. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a yaw rate a pitch angle.

320. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a pitch rate.

321. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a pitch angle.

322. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a global positioning system signal.

323. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a steering angle.

324. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a steering velocity.

325. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a wheel speed.

326. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a wheel normal load estimate.

327. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle.

328. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a roll acceleration.

329. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a longitudinal acceleration.

330. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a reference roll angle.

331. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a relative roll angle.

332. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a previous roll angle estimate.

333. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a reference roll angle.

334. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a body roll angle initialization.

335. A method as recited in claim 334 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

336. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to an instantaneous roll angle reference.

337. A method as recited in claim 336 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

338. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a roll angle estimate.

339. A method as recited in claim 338 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

340. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

341. A method as recited in claim 340 wherein the model roll angle is determined in response to a chassis roll observer.

342. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle time constant.

343. A method as recited in claim 342 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

344. A method as recited in claim 312 wherein determining a roll angle comprises determining a roll angle in response to body slip.

345. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle estimate; and

reducing a tire force vector in response to roll angle estimate to prevent the vehicle from rolling over.

346. A method as recited in claim 345 determining a roll angle comprises determining a roll angle estimate in response to a lateral acceleration.

347. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration and a yaw rate.

348. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration, a vehicle speed and a yaw rate.

349. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a lateral acceleration and a steering velocity.

350. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll rate.

351. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a vehicle speed.

352. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a yaw rate a pitch angle.

353. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch rate.

354. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch angle.

355. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a global positioning system signal.

356. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering angle.

357. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering velocity.

358. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel speed.

359. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel normal load estimate.

360. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle.

361. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll acceleration.

362. A method as recited in claim 345 determining a roll angle estimate comprises determining a roll angle estimate in response to a longitudinal acceleration.

363. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a reference roll angle.

364. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a relative roll angle.

365. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a previous roll angle estimate.

366. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a reference roll angle.

367. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a body roll angle initialization.

368. A method as recited in claim 345 wherein the body roll angle initialization is determined in response to a lateral acceleration.

369. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to an instantaneous roll angle reference.

370. A method as recited in claim 369 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

371. A method as recited in claim 345 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

372. A method as recited in claim 345 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

373. A method as recited in claim 372 wherein the model roll angle is determined in response to a chassis roll observer.

374. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle time constant.

375. A method as recited in claim 374 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

376. A method as recited in claim 345 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to body slip.

377. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll responsive control signal;

reducing a tire force vector in response to roll angle to prevent the vehicle from rolling over.

378. A method as recited in claim 377 wherein determining a roll angle comprises determining a roll responsive control signal in response to a lateral acceleration.

379. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration and a yaw rate.

380. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration, a vehicle speed and a yaw rate.

381. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll rate.

382. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a vehicle speed.

383. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a yaw rate a pitch angle.

384. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch rate.

385. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch angle.

386. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a global positioning system signal.

387. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering angle.

388. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering velocity.

389. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel speed.

390. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel normal load estimate.

391. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle.

392. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll acceleration.

393. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a longitudinal acceleration.

394. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle.

395. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a reference roll angle.

396. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a relative roll angle.

397. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a previous roll angle estimate.

398. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a reference roll angle.

399. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a body roll angle initialization.

400. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a model roll angle.

401. A method as recited in claim 400 wherein the model roll responsive control signal is determined in response to a chassis roll observer.

402. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle time constant.

403. A method as recited in claim 402 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

404. A method as recited in claim 377 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to body slip.

405. A method of controlling roll stability of a vehicle comprising the steps of:

determining a vehicle roll condition; and

reducing a tire force vector in response to the vehicle roll condition to prevent the vehicle from rolling over.

406. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration.

407. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration and a yaw rate.

408. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration, a vehicle speed and a yaw rate.

409. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a lateral acceleration and a steering velocity.

410. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll rate.

411. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a vehicle speed.

412. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a yaw rate a pitch angle.

413. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch rate.

414. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch angle.

415. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a global positioning system signal.

416. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering angle.

417. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering velocity.

418. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel speed.

419. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel normal load estimate.

420. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle.

421. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll acceleration.

422. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a longitudinal acceleration.

423. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle.

424. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a reference roll angle.

425. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a relative roll angle.

426. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a previous roll angle estimate.

427. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a reference roll angle.

428. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a body roll angle initialization.

429. A method as recited in claim 428 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

430. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to an instantaneous roll angle reference.

431. A method as recited in claim 430 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

432. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle estimate.

433. A method as recited in claim 405 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

434. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a model roll angle.

435. A method as recited in claim 434 wherein the model roll angle is determined in response to a chassis roll observer.

436. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle time constant.

437. A method as recited in claim 436 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

438. A method as recited in claim 405 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to body slip.

439. A rollover control system for an automotive vehicle having a steering system and a brake system comprising:

a roll condition sensor producing a rollover signal in response to an impending rollover; and

a controller apportioning an amount of correction provided by the steering system and the and brake system to prevent the vehicle from rolling over.

440. A system as recited in claim 439 wherein the roll condition sensor comprises a lateral acceleration sensor.

441. A system as recited in claim 439 wherein the roll condition sensor comprises a lateral acceleration sensor and a yaw rate sensor.

442. A system as recited in claim 439 wherein the roll condition sensor comprises a lateral acceleration sensor, a yaw rate sensor and a vehicle speed sensor.

443. A system as recited in claim 439 wherein the roll condition sensor comprises a lateral acceleration sensor and steering velocity sensor.

444. A system as recited in claim 439 wherein the roll condition sensor comprises a roll rate sensor.

445. A system as recited in claim 439 wherein the roll condition sensor comprises a vehicle speed sensor.

446. A system as recited in claim 439 wherein the roll condition sensor comprises a yaw rate sensor and a pitch angle sensor.

447. A system as recited in claim 439 wherein the roll condition sensor comprises a pitch rate sensor.

448. A system as recited in claim 439 wherein the roll condition sensor comprises a pitch angle sensor.

449. A system as recited in claim 439 wherein the roll condition sensor comprises a global positioning system.

450. A system as recited in claim 439 wherein the roll condition sensor comprises a steering angle sensor.

451. A system as recited in claim 439 wherein the roll condition sensor comprises a steering velocity sensor.

452. A system as recited in claim 439 wherein the roll condition sensor comprises a wheel speed sensor.

453. A system as recited in claim 439 wherein the roll condition sensor comprises wheel normal load sensor.

454. A system as recited in claim 439 wherein the roll condition sensor comprises a roll acceleration sensor.

455. A system as recited in claim 439 wherein the roll condition sensor comprises a longitudinal acceleration.

456. A system as recited in claim 439 wherein the roll condition sensor comprises a roll angle.

457. A system as recited in claim 439 wherein the roll condition sensor comprises a vehicle speed sensor, a yaw rate sensor and a lateral acceleration sensor.

458. A system as recited in claim 439 wherein the roll condition sensor comprises a chassis roll observer.

459. A system as recited in claim 439 wherein the roll condition sensor comprises a suspension sensor.

460. A system as recited in claim 439 wherein the roll condition sensor comprises a body slip sensor.

461. A system as recited in claim 439 wherein the roll condition sensor comprises a bank angle sensor.

462. A method of controlling roll stability of a vehicle having a brake system and a steering system comprising:

determining a roll condition of the vehicle in response to an impending rollover; and

apportioning an amount of correction provided by the steering system and the brake system to prevent the vehicle from rolling over.

463. A method as recited in claim 462 wherein determining a roll condition comprises determining a lateral acceleration.

464. A method as recited in claim 462 wherein determining a roll condition comprises determining a lateral acceleration and a yaw rate.

465. A method as recited in claim 462 wherein determining a roll condition comprises determining a lateral acceleration, a vehicle speed and a yaw rate.

466. A method as recited in claim 462 wherein determining a roll condition comprises determining a lateral acceleration and a steering velocity.

467. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a roll rate.

468. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a vehicle speed.

469. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a yaw rate a pitch angle.

470. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a pitch rate.

471. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a pitch angle.

472. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a global positioning system signal.

473. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a steering angle.

474. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a steering velocity.

475. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a wheel speed.

476. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a wheel normal load estimate.

477. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle.

478. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a roll acceleration.

479. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a longitudinal acceleration.

480. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a roll angle.

481. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a reference roll angle.

482. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a relative roll angle.

483. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a previous roll angle estimate.

484. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a reference roll angle.

485. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a body roll angle initialization.

486. A method as recited in claim 485 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

487. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to an instantaneous roll angle reference.

488. A method as recited in claim 487 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

489. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

490. A method as recited in claim 489 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

491. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

492. A method as recited in claim 491 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

493. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a model roll angle.

494. A method as recited in claim 493 wherein the model roll angle is determined in response to a chassis roll observer.

495. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle time constant.

496. A method as recited in claim 495 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

497. A method as recited in claim 462 wherein determining a roll condition comprises determining a roll condition in response to body slip.

498. A rollover control system for an automotive vehicle having a front brake and a rear brake comprising:

a roll condition sensor producing a roll condition signal in response to an impending rollover; and

a controller proportioning brake pressures between a front brake and rear brake in response to the roll condition signal to prevent the vehicle from rolling over.

499. A system as recited in claim 498 wherein the roll condition sensor comprises a lateral acceleration sensor.

501. A system as recited in claim 498 wherein the roll condition sensor comprises a lateral acceleration sensor and steering velocity sensor.

502. A system as recited in claim 498 wherein the roll condition sensor comprises a roll rate sensor.

503. A system as recited in claim 498 wherein the roll condition sensor comprises a vehicle speed sensor.

504. A system as recited in claim 498 wherein the roll condition sensor comprises a yaw rate sensor and a pitch angle sensor.

505. A system as recited in claim 498 wherein the roll condition sensor comprises a pitch rate sensor.

506. A system as recited in claim 498 wherein the roll condition sensor comprises a pitch angle sensor.

507. A system as recited in claim 498 wherein the roll condition sensor comprises a global positioning system.

508. A system as recited in claim 498 wherein the roll condition sensor comprises a steering angle sensor.

509. A system as recited in claim 498 wherein the roll condition sensor comprises a steering velocity sensor.

510. A system as recited in claim 498 wherein the roll condition sensor comprises a wheel speed sensor.

511. A system as recited in claim 498 wherein the roll condition sensor comprises wheel normal load sensor.

512. A system as recited in claim 498 wherein the roll condition sensor comprises a roll acceleration sensor.

513. A system as recited in claim 498 wherein the roll condition sensor comprises a longitudinal acceleration.

514. A system as recited in claim 498 wherein the roll condition sensor comprises a roll angle.

515. A system as recited in claim 498 wherein the roll condition sensor comprises a vehicle speed sensor, a yaw rate sensor and a lateral acceleration sensor.

516. A system as recited in claim 498 wherein the roll condition sensor comprises a chassis roll observer.

517. A system as recited in claim 498 wherein the roll condition sensor comprises a suspension sensor.

518. A system as recited in claim 498 wherein the roll condition sensor comprises a body slip sensor.

519. A system as recited in claim 498 wherein the roll condition sensor comprises a bank angle sensor.

500-1. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a previous roll angle estimate.

520. A method of controlling a rollover control system for an automotive vehicle having a front brake and a rear brake comprising:

determining a roll condition signal in response to an impending rollover; and

proportioning brake pressures between a front brake and a rear brake in response to the roll condition signal to prevent the vehicle from rolling over.

521. A method as recited in claim 520 wherein determining a roll condition comprises determining a lateral acceleration.

522. A method as recited in claim 520 wherein determining a roll condition comprises determining a lateral acceleration and a yaw rate.

523. A method as recited in claim 520 wherein determining a roll condition comprises determining a lateral acceleration, a vehicle speed and a yaw rate.

524. A method as recited in claim 520 wherein determining a roll condition comprises determining a lateral acceleration and a steering velocity.

525. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a roll rate.

526. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a vehicle speed.

527. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a yaw rate a pitch angle.

528. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a pitch rate.

529. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a pitch angle.

530. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a global positioning system signal.

531. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a steering angle.

532. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a steering velocity.

533. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a wheel speed.

534. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a wheel normal load estimate.

535. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle.

536. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a roll acceleration.

537. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a longitudinal acceleration.

538. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a roll angle.

539. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a reference roll angle.

540. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a relative roll angle.

541. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a previous roll angle estimate.

542. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a reference roll angle.

543. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a body roll angle initialization.

544. A method as recited in claim 543 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

545. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to an instantaneous roll angle reference.

546. A method as recited in claim 545 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

547. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

548. A method as recited in claim 547 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

549. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

550. A method as recited in claim 549 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

551. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a model roll angle.

552. A method as recited in claim 551 wherein the model roll angle is determined in response to a chassis roll observer.

553. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle time constant.

554. A method as recited in claim 553 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

555. A method as recited in claim 520 wherein determining a roll condition comprises determining a roll condition in response to body slip.

556. A rollover control system for an automotive vehicle traveling a path having a front brake and a rear brake comprising:

a roll condition sensor producing a roll condition signal in response to an impending rollover; and

a controller balancing braking pressures between the front brake and the, rear brake in response to the roll condition signal to minimize induced vehicle yaw or minimize induced path deviation.

557. A system as recited in claim 556 wherein the roll condition sensor comprises a lateral acceleration sensor.

558. A system as recited in claim 556 wherein the roll condition sensor comprises a lateral acceleration sensor and a yaw rate sensor.

559. A system as recited in claim 556 wherein the roll condition sensor comprises a lateral acceleration sensor, a vehicle speed sensor and a yaw rate sensor.

560. A system as recited in claim 556 wherein the roll condition sensor comprises a lateral acceleration sensor and steering velocity sensor.

561. A system as recited in claim 556 wherein the roll condition sensor comprises a roll rate sensor.

562. A system as recited in claim 556 wherein the roll condition sensor comprises a vehicle speed sensor.

563. A system as recited in claim 556 wherein the roll condition sensor comprises a yaw rate sensor and a pitch angle sensor.

564. A system as recited in claim 556 wherein the roll condition sensor comprises a pitch rate sensor.

565. A system as recited in claim 556 wherein the roll condition sensor comprises a pitch angle sensor.

566. A system as recited in claim 556 wherein the roll condition sensor comprises a global positioning system.

567. A system as recited in claim 556 wherein the roll condition sensor comprises a steering angle sensor.

568. A system as recited in claim 556 wherein the roll condition sensor comprises a steering velocity sensor.

569. A system as recited in claim 556 wherein the roll condition sensor comprises a wheel speed sensor.

570. A system as recited in claim 556 wherein the roll condition sensor comprises wheel normal load sensor.

571. A system as recited in claim 556 wherein the roll condition sensor comprises a roll acceleration sensor.

572. A system as recited in claim 556 wherein the roll condition sensor comprises a longitudinal acceleration.

573. A system as recited in claim 556 wherein the roll condition sensor comprises a roll angle.

574. A system as recited in claim 556 wherein the roll condition sensor comprises a chassis roll observer.

575. A system as recited in claim 556 wherein the roll condition sensor comprises a suspension sensor.

576. A system as recited in claim 556 wherein the roll condition sensor comprises a body slip sensor.

577. A system as recited in claim 556 wherein the roll condition sensor comprises a bank angle sensor.

578. A method of controlling a rollover control system for an automotive vehicle traveling a path having a front brake and a rear brake comprising:

determining a roll condition signal in response to an impending rollover; and

balancing braking pressures between the front brake and the rear brake in response to the roll condition signal to minimize induced vehicle yaw or minimize induced path deviation.

1. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle of the vehicle; and

generating a tire moment in response to the roll angle so that a net moment on the vehicle is counter to a roll direction.

2. A method as recited in claim 1 wherein the tire moment approaches a gravity moment.

3. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration.

4. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration and yaw rate.

5. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration, vehicle speed and yaw rate.

6. A method as recited in claim 1 wherein determining a roll angle comprises determining a lateral acceleration and a steering velocity.

7. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a roll rate.

8. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a vehicle speed.

9. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a yaw rate a pitch angle.

10. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a pitch rate.

11. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a pitch angle.

12. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a global positioning system signal.

13. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a steering angle.

14. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a steering velocity.

15. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a wheel speed.

16. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a wheel normal load estimate.

17. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle.

18. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a roll acceleration.

19. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a longitudinal acceleration.

20. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a reference roll angle.

21. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a relative roll angle.

22. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a previous roll angle estimate.

23. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a reference roll angle.

24. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a body roll angle initialization.

25. A method as recited in claim 24 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

26. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to an instantaneous roll angle reference.

27. A method as recited in claim 26 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

28. A method as recited in claim 1 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

29. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a roll angle estimate.

30. A method as recited in claim 29 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

31. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

32. A method as recited in claim 31 wherein the model roll angle is determined in response to a chassis roll observer.

33. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle time constant.

34. A method as recited in claim 33 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

35. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to body slip.

500. A system as recited in claim 498 wherein the roll condition sensor comprises a lateral acceleration sensor and a yaw rate sensor.

579. A method as recited in claim 578 wherein determining a roll condition comprises determining a lateral acceleration.

580. A method as recited in claim 578 wherein determining a roll condition comprises determining a lateral acceleration and a yaw rate.

581. A method as recited in claim 578 wherein determining a roll condition comprises determining a lateral acceleration, a vehicle speed and a yaw rate.

582. A method as recited in claim 578 wherein determining a roll condition comprises determining a lateral acceleration and a steering velocity.

583. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a roll rate.

584. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a vehicle speed.

585. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a yaw rate a pitch angle.

586. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a pitch rate.

587. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a pitch angle.

588. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a global positioning system signal.

589. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a steering angle.

590. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a steering velocity.

591. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a wheel speed.

592. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a wheel normal load estimate.

593. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle.

594. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a roll acceleration.

595. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a longitudinal acceleration.

596. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a roll angle.

597. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a reference roll angle.

598. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a relative roll angle.

600. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a reference roll angle.

601. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a body roll angle initialization.

602. A method as recited in claim 601 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

603. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to an instantaneous roll angle reference.

604. A method as recited in claim 603 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

605. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

606. A method as recited in claim 605 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

607. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

608. A method as recited in claim 607 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

609. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a model roll angle.

610. A method as recited in claim 609 wherein the model roll angle is determined in response to a chassis roll observer.

611. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle time constant.

612. A method as recited in claim 611 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

613. A method as recited in claim 578 wherein determining a roll condition comprises determining a roll condition in response to body slip.

614. A rollover control system for an automotive vehicle having a brake system with a brake pedal comprising:

a dynamic control system generating a dynamic control brake signal;

a roll condition sensor producing a roll condition signal in response to an impending rollover;

a controller proportioning brake pressures in response to the roll condition signal, pressure by a driver on the brake pedal and the dynamic control brake signal to prevent the vehicle from rolling over.

615. A system as recited in claim 614 wherein the dynamic control system comprises a yaw control system.

616. A system as recited in claim 614 wherein said controller proportions a front brake pressure and a rear brake pressure.

617. A system as recited in claim 614 wherein the roll condition sensor comprises a lateral acceleration sensor.

618. A system as recited in claim 614 wherein the roll condition sensor comprises a lateral acceleration sensor and a yaw rate sensor.

619. A system as recited in claim 614 wherein the roll condition sensor comprises a lateral acceleration sensor and steering velocity sensor.

620. A system as recited in claim 614 wherein the roll condition sensor comprises a roll rate sensor.

621. A system as recited in claim 614 wherein the roll condition sensor comprises a vehicle speed sensor.

622. A system as recited in claim 614 wherein the roll condition sensor comprises a yaw rate sensor and a pitch angle sensor.

623. A system as recited in claim 614 wherein the roll condition sensor comprises a pitch rate sensor.

624. A system as recited in claim 614 wherein the roll condition sensor comprises a pitch angle sensor.

625. A system as recited in claim 614 wherein the roll condition sensor comprises a global positioning system.

626. A system as recited in claim 614 wherein the roll condition sensor comprises a steering angle sensor.

627. A system as recited in claim 614 wherein the roll condition sensor comprises a steering velocity sensor.

628. A system as recited in claim 614 wherein the roll condition sensor comprises a wheel speed sensor.

629. A system as recited in claim 614 wherein the roll condition sensor comprises wheel normal load sensor.

630. A system as recited in claim 614 wherein the roll condition sensor comprises a roll acceleration sensor.

631. A system as recited in claim 614 wherein the roll condition sensor comprises a longitudinal acceleration.

632. A system as recited in claim 614 wherein the roll condition sensor comprises a roll angle.

633. A system as recited in claim 614 wherein the roll condition sensor comprises a vehicle speed sensor, a yaw rate sensor and a lateral acceleration sensor.

634. A system as recited in claim 614 wherein the roll condition sensor comprises a chassis roll observer.

635. A system as recited in claim 614 wherein the roll condition sensor comprises a suspension sensor.

636. A system as recited in claim 614 wherein the roll condition sensor comprises a body slip sensor.

637. A system as recited in claim 614 wherein the roll condition sensor comprises a bank angle sensor.