In recent years, automotive engineering has seen an unprecedented growth in active safety systems, accelerated by both rapid technological advancement and increasingly stringent European and international regulations on passenger safety and environmental emissions. While traditional Electronic Stability Programs (ESP/ESC) actively prevent loss of vehicle control during safety-critical manoeuvres via friction brakes, upcoming standards (such as Euro 7) introduce strict limits on non-exhaust particulate matter (PM) generated by brake wear. To overcome these challenges, this thesis investigates a novel Zero-Emissions Driving System (ZEDS) consisting of an axial-flux in-wheel electric motor integrated with a Magnetorheological (MR) brake, offering fast response times and zero-wear braking system.