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This paper discusses the optimization of the traction ability of a four wheel vehicle, by reducing the friction between the wheels and the ground required to sustain the motion of the vehicle. As a consequence, this will lead to the safest driving, incurring minimum damage on the surface of the ground. A full optimization includes controlling the longitudinal (tractive) forces and the lateral forces. A control of the vertical reactions (vertical load transfer) is also considered. The control procedure is based on a “disruption motion” that is determined by a geometric-static analysis that does not require solving differential equations. This optimization is a viable basis for computed-torque control of electrically-driven vehicles (e.g. automated guided vehicles, electro-mobiles), and is suitable for the on-line control of any other type of vehicles.