The vehicle easily loses yaw stability in the emergency obstacle avoidance manoeuvre, and the vehicle yaw stability control can be accomplished by applying the vehicle additional yaw moment by means of four wheels differential braking. As the vehicle dynamic model is nonlinear and its parameters and environment is uncertainty, the vehicle additional yaw moment decided by the optimal control is always unable to maintain optimal in reality. The generalized predictive control (GPC) method was proposed for deciding the vehicle additional yaw moment. The nonlinear 7-DOF vehicle model was built as the predictive model, and its accuracy was verified by vehicle tests. The control performances of GPC method were verified by virtual tests in the Simulink/Carsim, test results showed that the GPC method was more effective than the LQR method in improving the vehicle active safety. 