A method for calculating a yaw gain for use in controlling a vehicle includes the steps of obtaining a steer angle of the vehicle, obtaining a vehicle speed, determining an adjustment factor for a baseline steering geometry equation, obtaining vehicle understeer gradient as a function of lateral acceleration, and calculating the yaw gain. The adjustment factor is determined based at least in part on the turn radius. The yaw gain is calculated based at least in part on the vehicle speed, the steer angle, the vehicle understeer gradient, and the adjustment factor.