A method for distribute driving torque to each hub motor of a vehicle by a torque distribute controller, belongs to the field of driverless vehicle control, In order to solve the problem of motor assignment in each hub of the vehicle, so as to improve the accuracy of tracking, the key point is to define the ratio of the actual adhesion of the wheel to the ultimate adhesion provided by the pavementas the tire utilization factor, Taking the sum of tire utilization ratio as the optimization objective, the total driving torque of the vehicle is solved and the optimization problem is established.The effect is to ensure that the tire is in the stable range without exceeding the adhesion limit, and the required precision of tire distribution is higher, so that the tracking of longitudinal speedis more accurate.