A yaw angular velocity measuring method, which enables to select the wheels whose angular velocity information is going to be used, and which is carried out in two processes, and characterized by the steps of - receiving estimation of the yaw angular-velocity from the front wheels, - controlling the wheel's speed sensor information, - giving failure warning of the front wheels if the wheel's speed sensor information aren't correct, - controlling whether the difference between the information received and the vehicle speed is within certain tolerances if the information received from the wheel speed sensor are correct, - controlling whether there is an estimation from the rear wheels if the information received and the vehicle speed information aren't within the certain fault tolerance, - approving that that there is no estimation if there isn't estimation from the rear wheels, - making estimation only from the rear wheels if there is estimation from the rear wheels, - combining the front and rear wheel estimations at a certain extent if the difference between the information received and the vehicle speed is within the certain fault tolerance, - receiving estimation of the yaw angular-velocity from the rear wheels, - controlling whether correct information is received from the wheel speed sensor, - giving failure warning of the rear wheels if the wheel's speed sensor information aren't correct, - controlling whether the difference between the information received and the vehicle speed is within the fault tolerance if the wheel's speed sensor information are correct, - controlling whether there is an estimation from the front wheels if the difference between the information received and the vehicle speed isn't within the certain tolerance values, - approving that that there is no estimation if there isn't estimation from the front wheels, - making estimation only from the front wheels if there is estimation from the front wheels, - combining the front and rear wheel estimations at a certain extent if the difference between the information received and the vehicle speed is within the certain fault tolerances. - receiving estimation of the yaw angular-velocity from the front wheels, - controlling the wheel's speed sensor information, - giving failure warning of the front wheels if the wheel's speed sensor information aren't correct, - controlling whether the difference between the information received and the vehicle speed is within certain tolerances if the information received from the wheel speed sensor are correct, - controlling whether there is an estimation from the rear wheels if the information received and the vehicle speed information aren't within the certain fault tolerance, - approving that that there is no estimation if there isn't estimation from the rear wheels, - making estimation only from the rear wheels if there is estimation from the rear wheels, - combining the front and rear wheel estimations at a certain extent if the difference between the information received and the vehicle speed is within the certain fault tolerance, - receiving estimation of the yaw angular-velocity from the rear wheels, - controlling whether correct information is received from the wheel speed sensor, - giving failure warning of the rear wheels if the wheel's speed sensor information aren't correct, - controlling whether the difference between the information received and the vehicle speed is within the fault tolerance if the wheel's speed sensor information are correct, - controlling whether there is an estimation from the front wheels if the difference between the information received and the vehicle speed isn't within the certain tolerance values, - approving that that there is no estimation if there isn't estimation from the front wheels, - making estimation only from the front wheels if there is estimation from the front wheels, - combining the front and rear wheel estimations at a certain extent if the difference between the information received and the vehicle speed is within the certain fault tolerances.