This invention belongs to the field of vehicle torque control technology, specifically relating to a distributed drive vehicle in-situ steering torque control method. Based on the longitudinal and lateral velocities and accelerations at the vehicle's center of gravity, and considering the influence of the slip ratio changes of the four wheels on the overall longitudinal and lateral acceleration, the method selects a single wheel with a large change in longitudinal or lateral force with the longitudinal slip ratio for torque adjustment within one adjustment cycle, while maintaining the original output torque of the other wheels. Using this
torque distribution strategy, for vehicles with a center of gravity centered horizontally and longitudinally rearward, in-situ steering can be achieved while allowing the center of gravity to move within a
small range. This control method, based on real-time online accumulation of vehicle center of gravity and four-wheel information, achieves automatic and flexible adjustment of the
system's operating state by locating the wheel to be adjusted and calculating changes in driving torque, adapting to constantly changing conditions and situations, and maintaining a dynamic operating state to cope with different working conditions.