Patent ID: 7668637

Claim:
A method for determining a slip angle of a motor vehicle while compensating for bank angle of the motor vehicle, comprising the steps of: determining a first lateral velocity of a motor vehicle, wherein the first lateral velocity is calculated without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative; determining a second lateral velocity of the motor vehicle, wherein the second lateral velocity is calculated with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative; determining a third lateral velocity of the motor vehicle, wherein the third lateral velocity is calculated with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative; determining a longitudinal velocity of the motor vehicle; and determining a slip angle of the motor vehicle, wherein the slip angle is based upon the third lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is greater than a lateral velocity threshold and the bank angle is greater than a bank angle threshold, and wherein the slip angle is based upon the first lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is less than the lateral velocity threshold or the bank angle is less than the bank angle threshold.