A control system for an automotive vehicle (50) has a radar or lidar system
(22) used to generate a remote object signal. A vision system (26)
confirms the presence of the target object in the detection zone. A controller
(12) is coupled to the remote object sensor and a vehicle dynamics sensor
and the brake system. The controller predicts a host vehicle trajectory in response
to the host vehicle dynamic signal, determines an azimuth angle for the target
object, determines an actuation value in response to the target range signal, the
target relative velocity signal, the host vehicle trajectory, host vehicle brake
system status and the target azimuth angle. The controller (12) activates
a countermeasure in response to the actuation value.