The paper deals with energy optimal control allocation of an in-wheel electric vehicle with autonomous trajectory tracking. The proposed method is based on both high-level control allocation between steering intervention and torque vectoring minimizing cornering resistance of the vehicle, and a low-level multi-criteria torque distribution method considering power consumption of the electric in-wheel motors. The aim of the design is to enhance battery state-of-charge (SOC), extending the range of the electric vehicle. The reconfiguration control design is founded on Linear Parameter Varying (LPV) framework, while the wheel torque distribution is calculated using constrained optimization techniques. The operation of the energy optimal reconfiguration control is demonstrated in CarSim simulation environment with a detailed battery and electric motor model.