Abstract: An obstacle avoidance and vehicle stability system as provided that includes a plurality of wheels, each driven by an independent electric motor. Each of the electric motors provides rotational drive to its respective wheel. The electric motors may also provide braking through a retarding force. A controller is electrically connected to the electric motors. A plurality of vehicle sensors are electrically connected to the controller for detecting vehicle information indicative of vehicle stability. The controller receives information from the vehicle sensors and controls the electric motors and braking device to maintain vehicle stability, for example, during a hard braking maneuver to avoid a collision with an obstacle. The controller commands the appropriate electric motor and/or braking device to accelerate and/or decelerate the appropriate wheel to maintain control of the vehicle.