In this research, an enhanced lateral stability control system has been developed for a vehicle. The system consists of a vehicle parameter estimation part and an enhanced ESP control logic part. The vehicle parameter estimation was conducted by considering the physical relationship among the longitudinal dynamic components. The enhanced ESP logic was designed so that the controller gains change adaptively to the vehicle parameter variation. All the system components were tested in a simulation environment, while the vehicle mass estimation algorithm was also tested in the field. The results indicated that the lateral vehicle stability limit can be improved with the designed ESP system.