This study investigates a method for enhancing Battery Electric Vehicle (BEV) longitudinal and lateral stability in a broad range of conditions. As with the state-of-the-art, a hierarchical control is developed: the upper layer uses vehicle state errors and predicted yaw acceleration in order to generate a corrective yaw moment using a sliding mode control (SMC); the lower layer distributes the total requested torque to the electric motors using a vertical-load-based torque distribution algorithm. The main contribution of this work is the additional term inside the yaw moment controller: the expected yaw acceleration of the vehicle is predicted, allowing a more effective action of the controller and thus reducing path errors.