Counter steer detecting method

The counter steer detecting method includes the steps of detecting a steering angle by a steering angle sensor, detecting a lateral acceleration by a lateral acceleration sensor, and determining counter steer according to the steering angle detected by the steering angle sensor and the lateral acceleration detected by the lateral acceleration sensor on the basis of a counter steer determination area table indicating whether there is counter steer depending on the combination of steering angle and lateral acceleration. The hatched areas (STA1,STA2,STA3,STA4) are areas where counter steer is present.