Abstract: Four-wheel-independent driving (4WID) vehicle, characterized by independent control of each wheel torque and easy measurement, has become an ideal platform for the future vehicle development. This article focuses on the 4WID vehicle, addressing maneuverability and stability control of vehicles driven by in-wheel-motors, and proposes a hierarchical handling stability control strategy combined with neural networks, which is input of the slip rate and side deflection angle of the tire and analyzes the accuracy of the prediction of road-tire adhesion coefficient via the neural network algorithm, so as to achieve the real-time estimation for road coefficient. Based on the recognized road coefficient values, a layered handling-stability control strategy will be presented. The strategy optimizes the robust control of vehicles and solves the problem of motor torque distribution. In conclusion, combined with the simulation result and field test, the vehicle handling-stability control strategy can be verified effective in varied road coefficients.