Aiming at the control of electronic stability control system(ESC)which can enhance the handling stability in limited condition，the hierarchical control structure control strategy of ESC including main loop and servo loop is proposed. The first order sliding mode control is used in the main loop and the sliding mode plane and control law are designed. The output of main loop is the accessional yaw moment. The nine points with five states control which can approximately simulate human thinking is used in the servo loop. The brake pressure is controlled by the servo loop aiming at the desired slip rate and the accessional yaw moment is generated by brake force. The driver in the loop simulation bench is designed and the online test of the control strategy is carried on. The test results indicate that the handling stability and active safety are enhanced remarkably by the ESC control strategy in the drive condition of low adhesion road and driver handling vehicles immoderately，and the testing facticity and the pertinency of developed control strategy are improved by the driver in the loop simulation.