Proposed in this paper is a fault- tolerant control (FTC) algorithm for the 4WID/4WIS electric vehiclesafter faults,which takes the maximum post- fault vehicle stability as the control objective.The fault- tolerant control-ler adopts a hierarchical structure consisting of an upper motion controller based on the model predictive control(MPC) theory and a lower reconfigurable control allocator based on the reconfigurable control allocation method.Moreover,a re- allocation law considering multiple fault conditions of the driving motor is designed off line so as tomaintain the desired vehicle dynamics after faults.Simulated results show that the proposed FTC algorithm guaran-tees the desired dynamics and trajectory even under multiple fault conditions of the driving motor,so that it im-proves the post- fault stability and safety as well as the handling of vehicles.