In order to solve the problem of enhancing the vehicle driving stability and safety,which has been the hot question researched by scientific and engineering in the vehicle industry,the new control method was investigated.After the analysis of tire moving characteristics and the vehicle stress analysis,the tire model based on the extension pacejka magic formula which combined longitudinal motion and lateral motion was developed and a nonlinear vehicle dynamical stability model with seven freedoms was made.A new model reference adaptive control project which made the slip angle and yaw rate of vehicle body as the output and feedback variable in adjusting the torque of vehicle body to control the vehicle stability was designed.A simulation model was also built in Matlab/Simulink to evaluate this control project.It was made up of many mathematical subsystem models mainly including the tire model module,the yaw moment calculation module,the center of mass parameter calculation module,tire parameter calculation module of multiple and so forth.The severe lane change simulation result shows that this vehicle model and the model reference adaptive control method have an excellent performance. In order to solve the problem of enhancing the vehicle driving stability and safety, which has been the hot question researched by scientific and engineering in the vehicle industry, the new control method was investigated. After the analysis of tire moving characteristics and the vehicle stress analysis , the tire model based on the extension pacejka magic formula which combined longitudinal motion and lateral motion was developed and a nonlinear vehicle dynamical stability model with seven freedoms was made. A new model reference adaptive control project which made the slip angle and yaw rate of vehicle body as the output and feedback variable in adjusting the torque of vehicle body to control the vehicle stability was designed. A simulation model was also built in Matlab / Simulink to evaluate this control project. It was made up of many mathematical subsystem models including including the tire model module, the yaw moment calculation module, the center of mass parameter calculation module, tire p arameter calculation module of multiple and so forth. The severe lane change simulation result shows that this vehicle model and the model reference adaptive control method have an excellent performance.