A rollover warning and detection method for a transport vehicle is adaptively adjustable to take into account the CG height of the vehicle. Measures of the vehicle speed, lateral acceleration and yaw rate are sampled during normal driving conditions and used to estimate the CG height of the vehicle. The centrifugal acceleration acting on the vehicle is calculated as the product of vehicle speed and yaw rate, and the CG height is estimated based on the relationship between the calculated centrifugal acceleration and the measured lateral acceleration. The estimated CG height of the vehicle is used to adjust various calibrated rollover detection thresholds so that algorithm outputs such as rollover warnings automatically take into consideration vehicle loading effects.