I. Introduction
With the recent advancements in the vehicle industry, driving safety in vehicles is one of the key issues in the design of any vehicle. Nowadays, vehicles are equipped with control systems in order to improve their handling and stability [1]– [5]. These control systems need to know the behavior of vehicle (states), such as the sideslip angle, the yaw rate, the roll angle, among others, [6]– [8] during different maneuvers in order to perform appropriately. Specifically, knowledge of the road bank and vehicle roll angles is useful in lateral and rollover stability control systems.