Method for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control

A method for controlling an automotive vehicle having a plurality of wheels, includes determining a yaw rate, determining a lateral acceleration, determining a roll rate, determining longitudinal acceleration; and determining a calculated angle relative to the vehicle. The method further includes generating a wheel lift signal or a wheel grounded signal (306) as a function of yaw rate, lateral acceleration, roll rate and longitudinal acceleration, adjusting the calculated angle in response to the wheel lift or wheel grounded signal (312), and controlling a safety system in response to the calculated vehicle angle.