This paper presents incorporating a transient cornering characteristic in a target yaw-rate design method for chassis control system. Adopting appropriate target yaw-rate is crucial for the performance of the integrated chassis control system. The proposed design method consists of two parts: A bicycle model, which is considered transient cornering characteristic, and Relaxation Length Tire (RLT) model. First, the existing bicycle cornering kinematics that assumes the steady state is reformulated as a model considering the yaw acceleration, a transient characteristic. Second, incorporating the RLT model serves to compensate the phase delay. The proposed algorithm has been investigated under several standard maneuvers via simulation and vehicle test data. The results show the target yaw-rate of proposed algorithm well represents natural vehicle response including phase delay and agility.