Abstract: An apparatus (30) and a method for providing an output signal (28) indicative of a vehicle operating parameter. Preferably, the operating parameter is lateral acceleration of the vehicle. A lateral acceleration sensor (36) senses lateral acceleration and provides a first signal (38). A lateral acceleration estimator (40) estimates lateral acceleration and provides a second signal (42). The first signal (38) is passed through filters (44, 46) to provide first signal portions (38L, 38H). The second signal (42) is passed through filters (48, 50). The first signal (38) and the filtered second signal (42H) are provided to a fuzzy logic controller (56) for analysis. The fuzzy logic controller (56) provides two fuzzy variable values (K1, K2) based upon the analysis. The second signal portion (38H) and the filtered second signal (42H) are multiplied by the fuzzy variables, respectively. The results of the two multiplications and the first signal portion (38L) are summed together to provide the output signal (28).