Recant passenger cars have so higher grades of the cornering performance that the vehicle behaviors at braking in turn have become more important for the security on the obstacle avoidance ability. In this paper, the influences of amount of initial centripetal acceleration to braking motion of vehicles are discussed by experimental and theoretical analysis. Under the higher centripetal accelerations, even smaller deceleration bring the vehicle oscillating yaw velocity phenomena as same as centripetal accelerations. As to advance the effective test procedure. the authors proposed one of the methods that enable to reduce the test error by insufficient vehicle velocity. 7 refs., 6 figs., 1 tab.