Electronic stability control method for vehicle

An electronic stability control method for a vehicle, wherein the vehicle is a vehicle including one driving device installed therein, or the vehicle is a 4-wheel drive vehicle having a front wheel driving device and a rear wheel driving device, the method comprising:

• collecting information for determining a vehicle state value while the vehicle travels, by a controller of the vehicle;
• determining the vehicle state value indicating a driving state of the vehicle from the collected information, by the controller;
• comparing the determined vehicle state value with a first reference value, by the controller;
• and
• when the vehicle state value is greater than the first reference value, controlling an operation of a driving device for generating driving force for driving the vehicle and adjusting driving force for preventing understeer or oversteer of the vehicle, by the controller,
• wherein the vehicle state value is a yaw rate error or is a slip angle difference value between a front wheel and a rear wheel;
• and
• wherein the first reference value is a first error reference value determined by a current vehicle speed by the controller,
• wherein, when the vehicle is a vehicle including one driving device installed therein, the adjusting the driving force includes:
• determining a correction coefficient corresponding to the yaw rate error, by the controller;
• correcting a driving force command determined from driving information of the vehicle using the determined correction coefficient, by the controller;
• and
• outputting the corrected driving force command and controlling an operation of the driving device according to the corrected driving force command, by the controller.