Electric Vehicles (EVs), equipped with in-hub motors for autonomous control, offer better maneuverability and precision. However, maintaining stability, especially during cornering maneuvers marked by oversteering and understeering, remains a significant challenge. Moreover, implementing advanced functionalities in software imposes real-time constraints on platforms, while integrating designed algorithms into real vehicles causes high costs and consumes time and resources. Hence, there is an urgent need for industry-level EV benchmarks to effectively assess platforms and systems. In this chapter, we introduce a benchmark aimed at evaluating vehicle lateral stability enhancement during double-lane changes. This benchmark facilitates the design, verification, and validation processes for performance enhancement using advanced controller techniques, specifically through Direct Yaw Control in a four-wheel independent-motor-drive electric vehicle. We develop a comprehensive vehicle model, accounting for nonlinear dynamics, using ADAMS-Car \(\circledR \) and integrate it into MATLAB \(^{\text{\textregistered} }\) SimMechanics/Simulink \(^{\text{\textregistered} }\) to emulate a real vehicle from the University of Seville.