A system comprising: at least one bank angle sensor configured to output bank angle data; at least one roll rate sensor configured to output roll rate data; at least one speed sensor configured to output speed data, and a controller communicatively connected to the at least one bank angle sensor, the at least one speed sensor and the at least one roll rate sensor and configured to: determine a vehicle dynamic characteristic with, at least, the bank angle data and the speed data; determine a current roll rate of the vehicle from, at least, the roll rate data; determine if the vehicle dynamic characteristic is within a first dynamic range and then limit an allowable roll rate to a first roll rate limit; determine if the vehicle dynamic characteristic is within a second dynamic range and then limit the allowable roll rate to a second roll rate limit higher than the first roll rate limit, wherein the vehicle dynamic characteristic is within the second dynamic range when the speed sensor data indicates that a vehicle speed is below a vehicle speed threshold; and determine if the vehicle dynamic characteristic is within a transition dynamic range between the first dynamic range and the second dynamic range, determine a calculated roll rate limit, and then limit the allowable roll rate to the calculated roll rate limit. at least one bank angle sensor configured to output bank angle data; at least one roll rate sensor configured to output roll rate data; at least one speed sensor configured to output speed data, and a controller communicatively connected to the at least one bank angle sensor, the at least one speed sensor and the at least one roll rate sensor and configured to: determine a vehicle dynamic characteristic with, at least, the bank angle data and the speed data; determine a current roll rate of the vehicle from, at least, the roll rate data; determine if the vehicle dynamic characteristic is within a first dynamic range and then limit an allowable roll rate to a first roll rate limit; determine if the vehicle dynamic characteristic is within a second dynamic range and then limit the allowable roll rate to a second roll rate limit higher than the first roll rate limit, wherein the vehicle dynamic characteristic is within the second dynamic range when the speed sensor data indicates that a vehicle speed is below a vehicle speed threshold; and determine if the vehicle dynamic characteristic is within a transition dynamic range between the first dynamic range and the second dynamic range, determine a calculated roll rate limit, and then limit the allowable roll rate to the calculated roll rate limit. determine a vehicle dynamic characteristic with, at least, the bank angle data and the speed data; determine a current roll rate of the vehicle from, at least, the roll rate data; determine if the vehicle dynamic characteristic is within a first dynamic range and then limit an allowable roll rate to a first roll rate limit; determine if the vehicle dynamic characteristic is within a second dynamic range and then limit the allowable roll rate to a second roll rate limit higher than the first roll rate limit, wherein the vehicle dynamic characteristic is within the second dynamic range when the speed sensor data indicates that a vehicle speed is below a vehicle speed threshold; and determine if the vehicle dynamic characteristic is within a transition dynamic range between the first dynamic range and the second dynamic range, determine a calculated roll rate limit, and then limit the allowable roll rate to the calculated roll rate limit.