The road bank angle and roll angle have direct influence on the vehicles lateral motion.As a result, the accuracy of sideslip angle estimation can be improved through estimation of road bank angle and roll angle.In this paper, estimation of vehicle sideslip angle with adaptation to road bank angle and roll angle is achieved through a proposed Kalman filter at low cost based on the combination of dynamic model and kinematic model, which is developed from a three-feedom model of lateral, yaw and roll motion.Promising are the simulation results displayed in this paper.