Modern vehicle dynamics in its broadest sense encompasses all forms of vehicles. It aims to improve the riding comfort and the maneuverability for high-quality automobiles. This paper develops a sensor-based fuzzy controller (SFC) with a composite anti-lock braking system and tracking control system (ABS/TCS) to navigate escaping motions of wheeled vehicles under the assumption of Coulombs viscous friction and lumped-mass/rigid-body motions. The so-called escaping dynamics of wheeled vehicles occurs when the vehicle escapes from the constrained space during braking or cornering. Traditionally, such slippage phenomenon is usually ignored because of its high frequency and strong nonlinear features. The proposed SFC is designed to shorten braking distance under emergent circumstances and minimize cornering radius to improve maneuverability for wheeled vehicles. Finally, detailed simulations of wheeled vehicles with a composite ABS/TCS under the assumption of Coulombs viscous friction are used to justify the SFC algorithm.