In order to coordinate the conflicts of the EPS system and EPS system in steering and braking condition, the integrated control logic of the systems was put forward. First, EPS controller and ABS controller were designed separately, and then an integrated controller was set up and controller area network was carried out to integrated control system，the results of simulation and hard-in-loop (HIL) experiment under LabView proved that the proposed integrated control logic was correct and feasible. It could apparently improve the overall performance of vehicle.