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Research and development of autonomous functions for a road vehicle become increasingly active in recent years. However, the vehicle driving dynamics performance and safety are the big challenge for the development of autonomous vehicles especially in severe environments. The optimum driving dynamics can only be achieved when the traction torque on all wheels can be influenced and controlled precisely. In this study, we present a novel approach to this problem by designing an advanced torque vectoring controller for an autonomous vehicle with four direct-drive in-wheel motors to generate and control the traction torque and speed quickly and precisely, thus to improve the stability and safety of the autonomous vehicle. A four in-wheel motored autonomous vehicle equipped with Radar and camera is modelled in PanoSim software environment. Vehicle-to-Vehicle (V2V) communication is used in this software platform to avoid collision.