<p>Under conditions of large-curvature road, the coupled nonlinearity of lateral-longitudinal dynamics in distributed-drive intelligent vehicles may lead to a degradation in trajectory tracking accuracy and stability. A hierarchical lateral-longitudinal decoupled control architecture considering active front wheel steering compensation (AFSC) is proposed to address the coupled nonlinearity between stability requirements, lateral active front wheel steering (AFS) control, and longitudinal drive control. For the upper-layer controller, a trajectory tracking error model is designed considering lateral-yaw dynamics, and a model predictive controller (MPC) is designed to achieve the lateral AFS control within multiple constraints using the Karush–Kuhn–Tucker (KKT) condition method, which can avoid the no solution due to matrix non-invertibility. For the lower-layer controller, the coupled problem of the lateral-yaw-longitudinal dynamics model is addressed using differential flatness theory, and then a differential flatness model is proposed, which can decouple the AFSC from the longitudinal drive control, and avoid the extra modeling error caused by linearization. Subsequently, a decoupled control strategy based on the differential flatness model is designed using non-singular terminal sliding mode (NTSM) and active disturbance rejection control (ADRC), which can determine the active front wheel steering compensation angle and total tire torque to ensure both tracking accuracy and stability, respectively. Finally, tire torque distribution is handled by a load distribution method to achieve lateral-longitudinal decoupled trajectory tracking control by cooperating with the upper MPC controller. The effectiveness and superiority of the proposed strategy are validated through Carsim–Simulink simulations and hardware-in-the-loop (HiL) experiments.</p>