For four-wheel independent drive electric vehicles (4WIDEVs), an adaptive cruise control system integrating active front steering (AFS) and direct yaw-moment control (DYC) is developed. The system employs a dual-layer control architecture: the upper-level controller employs model predictive control (MPC) to track the vehicle’s desired longitudinal force and additional yaw moment, while the lower-level controller utilizes the redundancy of AFS and DYC to optimize the front wheel steering angles and torque distribution across all four wheels. This integrated approach enhances both vehicle stability and energy efficiency. Simulation results indicate that, compared to conventional average torque distribution strategies, the proposed control strategy achieves up to 13.23% energy savings while maintaining stability. The study offers insights into enhancing the overall performance of 4WIDEVs.