Steering angle is one of the most important parameters that indicate the process of drivers handling vehicles.To obtain the data of steering from GPS and inertial sensors is of a great sense in accident and driver behavior analyzing or other applications.Based on vehicle kinematics model

a method for steering angle determining derived from longitudinal velocity and lateral acceleration is proposesd.Simulation and experimental test are given to prove feasibility and reliability of the method.The computation result is affected by vehicle sideslip and roll motion

but the relative error is within 10 % when the vehicle velocity is within 35 km/h according to error analysis.