Dynamic tire slip angle estimation system and method

A slip angle estimation system (10) and method for estimating a tire slip angle is disclosed. The system (10) comprises at least one tire (14) supporting a vehicle (12); vehicle sensor means mounted to the vehicle for providing measured vehicle acceleration and yaw rate parameters; static load sensor means mounted to the vehicle tire for providing a tire static load measurement; and tire slip angle estimation means for estimating a tire slip angle from the tire static load measurement, and the vehicle acceleration and yaw rate parameters.