The present invention is directed to a vehicle motion control system for maintaining vehicle stability by controlling the braking force applied to at least one of the front and rear wheels of a vehicle. Oversteer restraining control and/or understeer restraining control are performed by applying...http://www.google.com/patents/US5762406?utm_source=gb-gplus-sharePatent US5762406 - Vehicle motion control system involving priority oversteer and understeer restraining control 
