A method for controlling movement of an autonomous vehicle includes: estimating a set of tire force margins with respect to each wheel of the vehicle and a set of dynamic chassis margins associated with a chassis module of the vehicle; based on the margins, determining whether the vehicle is capable of moving in accordance with a decision command; when the determination is negative, outputting a request for update of the decision command; and when an updated decision command has not been received, calculating a set of marginal actuating signals based on the decision command, the margins, required slip angles respectively for the wheels and a center of percussion of the vehicle so as to make the autonomous vehicle move accordingly.