Abstract: A novel method, apparatus, and system are disclosed for estimating a grade angle and superelevation angle of a road upon which a vehicle is traveling. In one embodiment, the present teachings comprise a method for measuring a quantity of specified vehicle associated parameters, including a grade angle composite acceleration parameter, which is used to derive an estimation of a grade angle. Similarly, a superelevation composite acceleration parameter is measured, and subsequently used to derive an estimation of a superelevation angle. Such grade angle and superelevation angle estimations are useful in certain vehicle safety applications.