Abstract: To improve the steering sensitivity of four-wheel steering vehicle at high speed and enhance the stability of four-wheel steering vehicle on low friction road, the coordinated control system of active rear wheel steering（ARS） and four-wheel torque distribution（4 WTD） was designed based on the hierarchical coordinated closed-loop control strategy for ARS/4 WID vehicle. The ARS controller with feedforward and feedback was designed with vehicle centroid sideslip angle as control objective. The 4 WTD controller was designed with vehicle yaw rate and desired longitudinal speed as control objectives. The rule-based coordination controller was designed to distribute the working range of each sub controller reasonably. Establishing the CarSim/Simulink co-simulation platform, the designed coordinated control system was verified by simulation. The simulation results show that the designed coordinated control system can improve the performance of four-wheel steering vehicle.