There is provided a method for detecting the possibility of rollover of a
vehicle, including the steps of: detecting an actual roll angular
velocity of the vehicle; obtaining an actual roll angle of the vehicle;
determining an actual lateral acceleration of the vehicle; providing a
two-dimensional map correlating values of the roll angular velocity with
values of the roll angle to define a rollover judgment threshold;
changing the threshold based on the actual roll angle and the actual
lateral acceleration; forming a plot of the actual roll angular velocity
versus the actual roll angle on the two-dimensional map; and judging that
there is a possibility that the vehicle rolls over when the plot exceeds
the threshold.