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In order to improve the four-wheel drive vehicle dynamic performance and running stability, an axis torque distribution control strategy was proposed through real-time observation of front and rear shaft speed difference and wheel slip ratio of the car. The vehicle dynamics model was constructed through the Matlab/Simulink, including transmission system model, tire model and sub-modules like slip ratio calculation module and motor model. The inter axle torque distribution control system and application was designed based on genetic algorithm (GA) and the PID control. On the low adhesion uniform pavement, docking road face to speed up performance of vehicle was simulated and analyzed. The hardware and software design of the shaft torque control system was carried out, and the development of the shaft torque control system was done, and the development of the controller was verified by the road test. The hardware and software design included the controller circuit and power circuit, and the control system of PCB harware increased the anti-interence design. Taking CodeWarrior as platform, the control system software framework, CAN bus communication program, data acquisition program, PWM driver were designed. The result showed that the controller and the control strategy can follow the real-time road conditions well, so that the vehicle dynamic performance and stability were improved. The test result also verified the effectiveness of the control system.