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An EV prototype, with all the wheels respectively driven by 4 inwheel motors, is developed, and undergoes a series of practical measurements and road tests. Based on the obtained vehicle parameters, a multi-body dynamics model is built by using SolidWorks and Adams/Car, and then validated by track test data. The virtual prototype is served as the control plant in simulation. An adaptive fractional order PID (A-FO-PID) controller is designed to enhance the handling and stability performance of the EV. Considering the model uncertainties, e.g. the variation in body mass distribution and the consequent change in yaw moment of inertial, a Parameter Self-Adjusting Differential Evolution (PSA-DE) algorithm is adopted for tuning the controller parameters, i.e. KP, KI, KD, λ and μ. As a modification of traditional DE algorithm, the so-called Variance of Population’s Fitness is utilized to evaluate the diversity of the population.