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Some systems like the ESP already exist to support the driver for the stabilization of the vehicle. But the next generation of active safety system will have to deal with a wider environment of the vehicle, to go closer to the limit of the vehicle dynamic etc. With such a complexity the systems will also have to take into account their own limits and to reduce their actions when they have a low confidence, e.g. when sensors are degraded. This article describes firstly a virtual driver and secondly a decision control that fuses their command depending on their confidences in order to improve the reliability of the command level.