a method for determining road bank angle in vehicle includes a lateral acceleration sensor that generates a first signal corresponding to lateral acceleration . a yaw rate sensor generates a second signal corresponding to a yaw rate signal . a controller coupled to the sensors performs the step of calculating a first bank angle estimate dependent on the first signal , calculating a second bank angle estimate dependent on the second signal , calculating a third bank angle estimate dependent on both the first and second signals , calculating a dynamic compensation factor based as a function of the first bank angle estimate , the second bank angle estimate and the third bank angle estimate , decomposing the third bank angle estimate into a plurality of third bank angle frequency layers , reducing each of the plurality of third bank angle frequency layers in response to a multiplicative factor , said multiplicative factor being a function of the dynamic compensation factor to obtain a plurality of reduced third bank angles , and calculating a final bank angle bias estimate based on a sum of the plurality of reduced third bank angles .