This thesis work is focused on the design of a Torque Vectoring (TV) architecture for a 4WD (Four Wheel Drive) electrical racing, in the context of the participation by the Polytechnic of Turin in the Formula Student Driverless competition organized by the Society of Automotive Engineers (SAE). The TV aims to optimally distribute the total required torque, both in traction and in braking, in order to produce an additional moment acting on the vehicle’s yaw rate. The control TV architecture is mainly composed of three sub-systems: a Reference Generator, a High-Level Controller based on a Linear Quadratic Regulator (LQR) and a Low-Level Controller for the motor torque allocation to the wheels, solving a Quadratic Programming (QP) optimization problem.