A method and a system for controlling a vehicle (100) with four-wheel drive are provided. The method includes: acquiring a vehicle condition information parameter by a vehicle condition information collector; obtaining a radius of turning circle to be reduced from a driver by a turning circle receiver (40); obtaining a controlling yaw moment corresponding to the radius of turning circle to be reduced according to the vehicle condition information parameter and the radius of turning circle to be reduced by a turning circle controller (11); and distributing the controlling yaw moment to four wheels (90) of the vehicle (100) according to an intensity level of the radius of turning circle to be reduced and the vehicle condition information parameter by the turning circle controller (11), such that the vehicle (100) turns circle.