Electrification and automation trends in the automotive field make use of by-wire systems to enhance the safety and driving experience for drivers and passengers, as well as to reduce traffic-related accidents and global emissions. The combination of steer-, drive- and brake-by-wire enables the realization of new chassis and drive concepts with four independently drivable, breakable and steerable wheels. This by-wire vehicle concept has eight actuators available for the realization of a vehicle movement in the plane with three degrees of freedom, making it an over-actuated system. In this paper, the over-actuation of the vehicle is mainly used to decouple the velocity, the trajectory curvature and the sideslip angle of the vehicle to give driver control over a novel vehicle motion. The remaining degrees of freedom are used to ensure a stable, safe and energy efficient vehicle handling. For that purpose, a non-linear cascaded controller has been developed, paired with a modular multi-objective analytical control allocation method.