The invention discloses a path maintaining and wheel sideslip control method for four-wheel steering/driving vehicles. The path maintaining and wheel sideslip control method for the four-wheel steering/driving vehicles comprises (a), establishing a vehicle body dynamic equation; (b), establishing a wheel dynamic equation; (c), establishing a relational expression between the frictional force and the moment of force; (d), establishing a computational formula for the longitudinal slip ratio and the lateral slip ratio; (e), establishing a path maintaining equation; (f), establishing a control model by controlling the wheel slip ratio; (g), designing a state feedback controller, namely, (g-1), selecting a performance index; (g-2), working out a matrix sum constant and (g-3), designing the controller; (h), obtaining wheel moment of force and a steering angle for a controlled vehicle. The path maintaining and wheel sideslip control method for the four-wheel steering/driving vehicles has the advantages of obtaining the appropriate wheel torque and the steering angle due to control of the longitudinal and lateral slip ratios of wheels and establishment of the control model, limiting the vehicle slip ratio to be within a certain range, restraining vehicle disturbance, enabling the vehicle to drive according to a preset path and guaranteeing lateral deviation not exceeding standard.