A system and method for activating a safety system when a vehicle may be involved in a spin, roll, and/or a spin-to-roll condition. The system and method include determining a side slip angle of the vehicle using the arctangent of the ratio of a lateral and longitudinal velocity. The system and method also include receiving a roll rate signal and determining a roll angle using the roll rate signal. The system and method also include determining a roll warning threshold that is a function of a relationship between the roll rate signal and the roll angle. Lastly, the system and method include activating the safety system when a side slip angle threshold and/or the roll warning threshold are exceeded.