With　significantly　different　friction　coefficients　in　the　left　and　right　wheels,　the　vehicle　will　be　prone　to　out　of　control,　such　as　wagging　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　DYC-TCS　control　strategy.　It　can　get　the　optimal　performance　of　the　vehicle　handling　and　stability.　Four-wheel　driving　model　has　been　built　with　software　Adams/View,　and　was　co-simulation　with　Simulink.　The　results　show　that　during　the　straight-line　acceleration　tests　with　significantly　different　friction　coefficient　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　only　the　TCS　control　program.　With　the　DYC-TCS　strategy,　the　maximum　yaw-rate　is　4%　of　the　traditional　non-DYC-TCS　control　strategy,　the　maximum　lateral　displacement　is　only　5%.　©　2012　IEEE.