Vehicle control system, vehicle control method, vehicle controller, and vehicle

A vehicle, comprising a system for controlling the vehicle, wherein the system comprises:

• a central controller and a plurality of vehicle components,
• the vehicle components corresponding to a plurality of functional domains, and at least one vehicle component in each of the functional domains connected to the central controller;
• the central controller configured to send first control information to the at least one vehicle component;
• the functional domains comprising a power domain, a vehicle component in the power domain comprising a motor controller and a plurality of drive motors corresponding to wheels and respectively driving the wheels, and the first control information comprising torque allocation information of each of the drive motors;
• and
• the central controller configured to send the torque allocation information to the motor controller according to a vehicle driving scenario.