Torque distribution method, device, equipment and vehicle

The embodiment of the invention provides a torque distribution method, device and equipment and a vehicle. The vehicle comprises a plurality of wheels, the wheels comprise a left wheel and a right wheel which are coaxial, and the method comprises the steps that axle demand torque of an axle where the left wheel and the right wheel are located is obtained; if it is judged that one of the left wheel and the right wheel is the slipping wheel and the other one is the non-slipping wheel, the first target demand torque of the slipping wheel is obtained; determining a first torque difference value between the shaft demand torque and a first target demand torque of the slipping wheel; according to the shaft demand torque and the first torque difference value, the demand torque distribution ratio of the non-slip wheels is determined; and determining a second target demand torque of the non-slip wheel according to the axle demand torque and the demand torque distribution ratio of the non-slip wheel, so that the driving dynamic property of the vehicle can be improved.