How I can simulate the diferencial efect on each axis of the car?

Hello everyone , I have seen that the drone can be controlled very easily each engine , and so I decided to make a car with an engine on each wheel. I’ll use ESC car for it. go directly to each motor in a wheel should be able to change the percentage of speed in curves , less rpm to the wheels inside. It would be nice , too, to differentiate the front axle of the rear to put different percentages among them. So while I accelerate the car, turn the steering servo, APM must distribute the percentages of rpm to each motor previously scheduled . It is this very difficult to achieve with the current firmware? it would be impossible to do now ? any info about it would be of great help , I have all the hardware and the car are pending just finished this. sincerely.