The invention discloses a hierarchical system used for a four-wheel-hub motor-driven electric automobile, and a control method. First of all, yaw moment is calculated as a yaw moment decision-making layer according to a vehicle speed sensor, a steering wheel rotary angle transmitter, an electronic throttle sensor and an inertia measurement unit; then according to automobile longitudinal force constraints, yaw moment constraints, a maximum adhesion force which can be provided by a pavement and restrictions of motor maximum output moment, target torque of each wheel hub motor is calculated as a target optimization analysis layer; and finally, degrees of similarity to six standard pavements are obtained by inputting two parameters, i.e., an adhesion coefficient and a wheel slip rate into a pavement adhesion coefficient estimation fuzzy controller by means of a current pavement, and an adhesion coefficient estimated value of the current pavement is obtained as a pavement adhesion coefficient monitoring layer after weighted averaging is performed. According to the invention, whole-vehicle stability is taken as a control target, motor torque is reasonably distributed according to operation working conditions, and the controllability, the stability and the economic property of vehicles are improved.