Method of controlling travelling stability of vehicle

Disclosed herein is a method of controlling traveling stability of a vehicle. In the present invention, a driver's desired yaw rate is estimated using a steering wheel angle and a reference speed of the vehicle while turning. The condition of a road surface the vehicle is traveling on is judged by comparing lateral acceleration of the vehicle, estimated using the estimated yaw rate and a reference vehicle speed, with lateral acceleration actually measured by a lateral acceleration sensor. A driver's desired reference yaw rate is determined according to the judged road surface condition. It is determined whether a vehicle is understeered or oversteered by comparing the determined reference yaw rate with an actual yaw rate measured by a yaw rate sensor. According to the determined result, braking force and driving force of the vehicle are controlled, thus obtaining excellent vehicle stability.