A control system (18) and method for an automotive vehicle (10) includes a lateral acceleration sensor (32) for generating a lateral acceleration signal, a yaw rate sensor (28) for generating a yaw rate signal, and a safety system. The safety system (44) and the sensors are coupled to a controller (26). The controller (26) determines a front lateral tire force and a rear lateral tire force from the vehicle yaw rate signal and the vehicle lateral acceleration signal; determines a calculated lateral velocity from the front lateral tire force, the rear lateral tire force, and a bank angle; determines a calculated yaw rate from the front lateral tire force and the rear lateral tire force; and controls the safety system in response to the calculated lateral velocity and the calculated yaw rate.