Vehicle yaw stability control method and apparatus

Embodiments herein relate to a vehicle yaw stability control method as well as a vehicle yaw stability control apparatus (1). The yaw rate È of the vehicle is measured. A first reference yaw rate È ref is set. A difference yaw rate È is set. Stabilizing braking intervention is triggered when a value of the difference yaw rate È exceeds limits defined by difference yaw rate threshold values È min , È max . Information regarding the shape of the road ahead of the vehicle is acquired. The reliability of the driver steering input ´ is evaluated upon stabilizing braking intervention being triggered. In case the driver steering input ´ is deemed unreliable a replacement reference yaw rate È Ù ref road is set based on the acquired road shape and a replacement difference yaw rate È road is set whereupon stabilizing braking intervention is performed based on the replacement difference yaw rate È road .