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The wheel-rail adhesion was closely related to the safe operation of high-speed trains. To make full use of the adhesion force between wheel and rail, an adhesion control method based on vehicle-controlled was proposed. The method sets the optimal torque searching vehicle to detect the wheel-rail adhesion according to the obtained creep speed and its acceleration. The optimal torque was quickly calculated which was suitable for running under the current rail surface condition and then transmitted to the other motor vehicles. The control units of motor vehicles made reasonable torque adjustment for each vehicle. Finally, a simulation model of the traction drive adhesion control system based on the CRH2 high-speed train was built using MATLAB/Simulink. The simulation results verified the feasibility of the method.