An exemplary method for controlling torque at one or more wheels of a vehicle, including controlling both positive torque (acceleration) and negative torque (braking) with a single torque command. According to one embodiment, the method interprets the acceleration and braking intent of the driver, takes into consideration certain special conditions (e.g., vehicle dynamic conditions like wheel slip, over- and under-steer, etc.), and generates one or more individual torque commands that are sent to individual wheels or corners of the vehicle. The individual torque commands may address certain chassis and powertrain functions like acceleration and braking, and may provide full-feature torque control (i.e., acceleration, braking, vehicle dynamics, etc.) on an individual wheel basis. It is also possible for the method to be used in a system where a number of the common chassis, powertrain and/or vehicle dynamic modules have been integrated into a single torque control module or the like.