Aimed at safety of vehicle collision avoidance at high speed,a coupled driving/breaking and steering control method is proposed.Based on the differential flatness theory,the flatness-based controller is designed which makes it possible to obtain the vehicle input through the vehicle output and their errors.Thus the vehicle can be controlled using the controller output: the driving/breaking force and the steering angle.The simulation results of the double lane change test show that the proposed control method can ensure both vehicle handing stability and path tracking effect.Compared with vehicles equipped with ESP.the flatness-based control vehicle has better performance in both handing stability and path tracking.