This paper reports the work of Beijing Institute of Technology(BIT)on autonomous Formula Student racecar, as well as the work of the Formula Student Autonomous China(FSAC)competition. This paper introduces an envelope control framework for four- wheel independently actuated(FWIA)autonomous ground vehicle(AGV)to regulate it on desired path and simultaneously control it to the driving limits. The envelope control framework is achieved based on the integrated control of active front-wheel steer(AFS)and di- rect yaw-moment control(DYC). An autonomous Formula Student racecar developed by the authors is used as testbed. The autonomous driving experiments on racetrack validates the efficiency of the proposed controller.