The present paper discusses the independent steering vehicle with direct yaw-moment control (DYC). Regarding the distribution of the driving/breaking force, the objective function is the maximum value of the tire workloads that is defined as the ratio of the tire force to the vertical load. In the direct yaw-moment control of active front steering wheel vehicle, the optimum distribution based on the vertical load to minimize the maximum workload is derived in the form of simple algebraic expressions. Furthermore, an independent steering vehicle whose front wheel steerings can be steered is introduced to discuss an on-line algorithm of an exact minimax optimization method including the lateral force distribution. Numerical simulations with CarSim, a popular multi-degree-of-freedom vehicle model, are performed to prove effectiveness of the proposed control scheme.