A vehicle comprising: at least two forwardly positioned steerable road wheels (2, 3); at least first and second rearwardly positioned wheels (10, 11) disposed on opposing lateral sides of the vehicle, each coupled to a respective first and second electric motor (14, 15) adapted to apply driving and braking torque to the respective wheel, the first and second electric motors being independently controllable; at least one angle sensor configured to provide an output indicative of a steering angle of the steerable road-wheels; at least one speed sensor configured to provide an output indicative of the vehicle longitudinal speed (Vx); a vehicle yaw-rate sensor configured to provide an output indicating the vehicle's measured yaw-rate; control means adapted to: determine a target yaw-rate from at least the road-wheel steering angle (δ) and the vehicle longitudinal speed (Vx); determine a yaw rate error by comparing at least the vehicle's measured yaw-rate with said target yaw-rate, and determine an amount of yaw torque needed to correct or reduce the yaw-rate error; and control said first and second electric motors (14, 15) to apply an amount of differential torque to the respective first and second rearwardly positioned wheels (10, 11) so as to generate said amount of yaw torque, the vehicle being configured to provide the electrical energy required to provide the driving torque of the differential torque to one of the motors by energy recovered from the other one of the motors providing a braking torque. at least two forwardly positioned steerable road wheels (2, 3); at least first and second rearwardly positioned wheels (10, 11) disposed on opposing lateral sides of the vehicle, each coupled to a respective first and second electric motor (14, 15) adapted to apply driving and braking torque to the respective wheel, the first and second electric motors being independently controllable; at least one angle sensor configured to provide an output indicative of a steering angle of the steerable road-wheels; at least one speed sensor configured to provide an output indicative of the vehicle longitudinal speed (Vx); a vehicle yaw-rate sensor configured to provide an output indicating the vehicle's measured yaw-rate; control means adapted to: determine a target yaw-rate from at least the road-wheel steering angle (δ) and the vehicle longitudinal speed (Vx); determine a yaw rate error by comparing at least the vehicle's measured yaw-rate with said target yaw-rate, and determine an amount of yaw torque needed to correct or reduce the yaw-rate error; and control said first and second electric motors (14, 15) to apply an amount of differential torque to the respective first and second rearwardly positioned wheels (10, 11) so as to generate said amount of yaw torque, the vehicle being configured to provide the electrical energy required to provide the driving torque of the differential torque to one of the motors by energy recovered from the other one of the motors providing a braking torque. determine a target yaw-rate from at least the road-wheel steering angle (δ) and the vehicle longitudinal speed (Vx); determine a yaw rate error by comparing at least the vehicle's measured yaw-rate with said target yaw-rate, and determine an amount of yaw torque needed to correct or reduce the yaw-rate error; and control said first and second electric motors (14, 15) to apply an amount of differential torque to the respective first and second rearwardly positioned wheels (10, 11) so as to generate said amount of yaw torque, the vehicle being configured to provide the electrical energy required to provide the driving torque of the differential torque to one of the motors by energy recovered from the other one of the motors providing a braking torque.