The invention relates to a four wheel drive hybrid vehicle provided with at least one power train on each wheel set, a first power train (1) including at least one heat engine, a second power train (2) including at least one electric machine, the vehicle also being provided with a friction braking system on each drive wheel and sensor (7). The control system includes: a means (9) for distributing a braking request between the friction braking system and at least one electric machine from a power train, said electric machine being capable of producing a resisting torque; a torque instruction modulation means (10) for modulating torque instructions to braking systems and power trains based on signals coming from the sensors; and a power train control means (8); the distribution means (9), the torque instruction modulation means (10), and the power train control means (8) being capable of dynamically interacting so as to output torque commands to the power trains and to the friction braking systems with a view to promoting the stability of the vehicle.