Abstract: With significantly different friction coefficients in the left and right wheels,the vehicle will be prone to wagging the tail when accelerating in straight-line.According to characteristics that the driving torque of four-wheel driving vehicle with electric wheels can be controlled independently,the driving torque control algorithm of inside and outside wheels was proposed based on PID control algorithm and direct yaw control and traction control system(DYC-TCS).The optimal performance of the vehicle handling and stability can be obtained.A four-wheel driving model was built with software Adams/View,and was co-simulated with Simulink.Resultsshow that during the straight-line acceleration tests with significantly different friction coefficients in the left and right wheels,the use of DYC-TCS control strategy is superior to traditional non-DYC-TCS control strategy,and better than that of the only TCS program.With the DYC-TCS,the maximum yaw-rate is 4% of the traditional non-DYC-TCS,and the maximum lateral displacement is only 5%.