A method for controlling a vehicle with four-wheel drive, wherein four wheels of the vehicle comprise a front inner wheel, a front outer wheel, a rear inner wheel and a rear outer wheel; the method comprising: 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; 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; and distributing the controlling yaw moment to four wheels of the vehicle 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, such that the vehicle turns circle; characterized in that the intensity level of the radius of turning circle to be reduced comprises a first intensity level, a second intensity level and a third intensity level, the radius of turning circle to be reduced in the first intensity level is less than the radius of turning circle to be reduced in the second intensity level, and the radius of turning circle to be reduced in the second intensity level is less than the radius of turning circle to be reduced in the third intensity level; distributing the controlling yaw moment to four wheels of the vehicle 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 comprises: distributing the controlling yaw moment to the rear inner wheel and the rear outer wheel when the intensity level of the radius of turning circle to be reduced is the first intensity level; distributing the controlling yaw moment to the four wheels according to a first predetermined strategy when the intensity level of the radius of turning circle to be reduced is the second intensity level, the first predetermined strategy is mainly controlling the rear wheels and auxiliarily controlling the front wheels; and distributing the controlling yaw moment to the four wheels according to a second predetermined strategy when the intensity level of the radius of turning circle to be reduced is the third intensity level, the second predetermined strategy is that a controlling yaw moment distributed to the rear wheels is the same as that distributed to the front wheels. 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; 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; and distributing the controlling yaw moment to four wheels of the vehicle 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, such that the vehicle turns circle; characterized in that the intensity level of the radius of turning circle to be reduced comprises a first intensity level, a second intensity level and a third intensity level, the radius of turning circle to be reduced in the first intensity level is less than the radius of turning circle to be reduced in the second intensity level, and the radius of turning circle to be reduced in the second intensity level is less than the radius of turning circle to be reduced in the third intensity level; distributing the controlling yaw moment to four wheels of the vehicle 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 comprises: distributing the controlling yaw moment to the rear inner wheel and the rear outer wheel when the intensity level of the radius of turning circle to be reduced is the first intensity level; distributing the controlling yaw moment to the four wheels according to a first predetermined strategy when the intensity level of the radius of turning circle to be reduced is the second intensity level, the first predetermined strategy is mainly controlling the rear wheels and auxiliarily controlling the front wheels; and distributing the controlling yaw moment to the four wheels according to a second predetermined strategy when the intensity level of the radius of turning circle to be reduced is the third intensity level, the second predetermined strategy is that a controlling yaw moment distributed to the rear wheels is the same as that distributed to the front wheels. distributing the controlling yaw moment to the rear inner wheel and the rear outer wheel when the intensity level of the radius of turning circle to be reduced is the first intensity level; distributing the controlling yaw moment to the four wheels according to a first predetermined strategy when the intensity level of the radius of turning circle to be reduced is the second intensity level, the first predetermined strategy is mainly controlling the rear wheels and auxiliarily controlling the front wheels; and distributing the controlling yaw moment to the four wheels according to a second predetermined strategy when the intensity level of the radius of turning circle to be reduced is the third intensity level, the second predetermined strategy is that a controlling yaw moment distributed to the rear wheels is the same as that distributed to the front wheels.