In response to the issue of excessive slip of the driving wheels during rapid acceleration starting on medium or low adhesion road surface, a traction control strategy based on PID control principle for four-wheel distributed drive vehicles is designed. Use Kalman filtering and slope method to estimate longitudinal vehicle speed and then calculate the driving wheel slip rate. Use the wheel speed and utilizing adhesion coefficient to identify uniform adhesion road surface and split road surface to switch different control strategies. By adjusting the driving torque of the motor and the brake pressure of the brake wheel cylinder, driving wheels’ slip rate are maintained near the target value. To prevent excessive lateral torque of the vehicle on split road surface, a twice torque reduction strategy for high-adhesion-side wheels is designed. By reducing the driving torque of high-adhesion-side wheels, the vehicle's yaw rate can be reduced. The vehicle starting simulation analysis of uniform adhesion road surface and split road surface shows that the control strategy proposed can effectively reduce the slip rate of the driving wheels. Moreover, on split road surface, the yaw rate of the vehicle can be effectively reduced under the control of twice torque reduction strategy, resulting in improved driving stability and safety of the vehicle.