Aspects of the present disclosure involve a method for determining a road vehicle velocity and slip angle. The current disclosure presents a technique for identifying a vehicle's velocity and slip angle, in the vehicle's coordinate frame. In one embodiment, two or more sensors are orthogonally located on the underside of the vehicle in order to obtain longitudinal and lateral velocity information for slip angle determination. In another embodiment, the two or more sensors can include an array of elements for beam steering and receiver beamforming. Spatial diversity is leveraged in identifying at least a slip angle and/or velocity of the vehicle. Doppler mapping is used as a means for slip angle determination and the clutter ridge of the Doppler map is embraced for identifying the slip angle.