A method of controlling a torque vectoring mechanism of a vehicle having a driven axle associated with a left driven wheel and a right driven wheel and a non-driven axle associated with a left non-driven wheel and a right non-driven wheel, the torque vectoring mechanism configured to distribute torque between the left non-driven wheel and the right non-driven wheel, the method characterized in that it includes: receiving a first speed value corresponding to a speed of the vehicle in a longitudinal direction; receiving a second speed value corresponding to a speed of the left driven wheel in a forward direction; receiving a third speed value corresponding to a speed of the right driven wheel in the forward direction; receiving a fourth speed value corresponding to a speed of the vehicle in a lateral direction at a left driven wheel location; receiving a fifth speed value corresponding to a speed of the vehicle in the lateral direction at a right driven wheel location; determining a first longitudinal slip value of the left driven wheel based on the first speed value and the second speed value; determining a second longitudinal slip value of the right driven wheel based on the first speed value and the third speed value; determining a first lateral slip value of the left driven wheel based on the second speed value and the fourth speed value; determining a second lateral slip value of the right driven wheel based on the third speed value and the fifth speed value; determining a reduced lateral force value of the driven axle based on the first longitudinal slip value, the second longitudinal slip value, the first lateral slip value, and the second lateral slip value; determining a change of yaw moment about a center of gravity of the vehicle based on the reduced lateral force value; determining a torque control value based on the change of yaw moment; and distributing torque between the left non-driven wheel and the right non-driven wheel based on the torque control value. receiving a first speed value corresponding to a speed of the vehicle in a longitudinal direction; receiving a second speed value corresponding to a speed of the left driven wheel in a forward direction; receiving a third speed value corresponding to a speed of the right driven wheel in the forward direction; receiving a fourth speed value corresponding to a speed of the vehicle in a lateral direction at a left driven wheel location; receiving a fifth speed value corresponding to a speed of the vehicle in the lateral direction at a right driven wheel location; determining a first longitudinal slip value of the left driven wheel based on the first speed value and the second speed value; determining a second longitudinal slip value of the right driven wheel based on the first speed value and the third speed value; determining a first lateral slip value of the left driven wheel based on the second speed value and the fourth speed value; determining a second lateral slip value of the right driven wheel based on the third speed value and the fifth speed value; determining a reduced lateral force value of the driven axle based on the first longitudinal slip value, the second longitudinal slip value, the first lateral slip value, and the second lateral slip value; determining a change of yaw moment about a center of gravity of the vehicle based on the reduced lateral force value; determining a torque control value based on the change of yaw moment; and distributing torque between the left non-driven wheel and the right non-driven wheel based on the torque control value.