Despite the importance of tire force in chassis control factor, it was not directly measured the real-time tire force in current chassis control system. However, it can be directly measured the real-time tire force in the intelligent tire system or the wheel hub tire force sensor under developing recently. In this paper, to improve the vehicle performance and stabilization, it’ll be suggested a new concept of 4WD control method using directly-measured tire force. This control system includes a control concept standardizing the load rate that signifies critical situations in tires, also includes a yaw moment control. This control system was confirmed by dynamic simulations and vehicle tests on the proving ground.