Focuses on the heading following control for four-wheel independent drive（ 4WID） electric vehicles. A two-layer-control-model（ direct yaw-moment control layer and torque distribution layer） is presented to achieve the high performance control. In the upper layer

A direct yaw-moment controller based on active disturbance rejection control（ ADRC） is built through carefully analyzing the heading system. Then the deviation torque is calculated for the purpose of following. In the lower layer

an algorithm is designed to distribute torque to the motor drive systems. The effectiveness of the controller is examined using a driving simulator system.