This paper proposes direct yaw moment control system (DYC) based on driver intention. Considering driving tasks in lateral motions there are lane keeping lane change and etc. To reflect the driver intention on DYC system two types of desired yaw rate are proposed. One is for the lane keeping control and the other is for vehicle stability control. In the control algorithm two types of desired yaw rate are switched by weighting coefficient according to the driver intention. The driver intention is recognized by using steering wheel angle with the application of Hidden Markov Model tion. (HMM)which utilizes the theory of probability. Finally experimental validation was conducted for verifying the recognition accuracy of and the effectiveness of proposed integrated yaw rate control algorithm using micro-scale electric vehicle NOVEL-I. From experiment result it was verified that the driver could intervene steering with less effort and DYC system reduced the steering workload and side slip angle during lane change.