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The studies of coordinated control method for autonomous electric vehicles face two major challenges such as: I) Autonomous electric vehicles have the properties of uncertain nonlinearities and strong coupling, the platoon control system should effectively overcome these characteristics. II) Over-actuated tire actuators are equipped with in the autonomous electric vehicles to improve the system reliability, and reconfigurablity, the platoon control system should real-time handle the redundancy of tire actuators. This paper presents a novel nonlinear coordinated control scheme aimed at the improvement of the automatic driving performance of multiple autonomous electric vehicles in a platoon. First, a nonlinear mathematic model which perfectly describes the dynamic behaviors of autonomous electric vehicles is deduced using Newton-Euler theorem.