Vehicle roll angle estimator and method

An attitude angle estimator (80) and method of estimating attitude angle (82) of a vehicle having an angular attitude rate sensor (12) sensing angular attitude rate (13) of a vehicle, a vertical accelerometer (20) sensing vertical acceleration (21), and a lateral accelerometer (14) sensing lateral acceleration (15). An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle ( phi ) is determined as a function of the sensed accelerations, and a blending coefficient (K) is provided. A current vehicle attitude angle estimate (82) is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle ( phi ), and the blending coefficient (K).