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According to FMVSS 126, the definition of ESC, the objective performance test and evaluation methods for over-steer characteristic and lateral responding ability were analyzed respectively. The advanced vehicle road way test system was developed, in which the key steer robot device was comprehensively introduced for its performance requirement and operating principle, then the systematical road way tests were conducted. The wavelet filtering method was employed to reduce the noise included in the initial sensor signal. Compared with the frequency-domain filter method suggested by FMVSS 126, the wavelet filtering was more precise for its zero phrase delay and good reservation of signal’s local specificity. Vehicle lateral displacement was obtained respectively from differential GPS method and acceleration method. During 2s after the beginning of steering, the results were almost identical and the error was less than 5%. So the acceleration method suggested by FMVSS 126 was feasible to test the lateral displacement at 1.07 s after the beginning of steering. Finally, the results of three group tests showed that it was feasible to evaluate the vehicle stability with yaw rate information when vehicle did not lose its stability, but when vehicle was approaching instability or the stability was lost, the vehicle slip angle information should be added to evaluate the vehicle stability. 