A vehicle stability control method for a traveling system with uncertainties which Contains the following steps: Collecting vehicle driving state information, according to the two-degree-of-freedom model, expressing The uncertainties of the analytical system of the vehicle model as linear uncertain systems, Taking the deviation between the actual value and the expected value of the state quantityas the input of the robust optimization vehicle stability controller, obtaining the expected value of the control quantity required for vehicle stability by using the suboptimal control method, and distributing the tire force by the pseudo-inverse distribution method, and finally executing the tire force distribution result by the actuator.