1. A method of estimating a vehicle lateral velocity, comprising: providing at least three estimation structures, each estimation structure corresponding to one of at least three dynamic regions in which a vehicle may operate, the at least three dynamic regions comprising a low lateral velocity region, a linear region, and a nonlinear region; determining in which of the at least three dynamic regions the vehicle is operating to identify a first dynamic region; and generating a first regional lateral velocity estimation from a first estimation structure corresponding to the first dynamic region.