To address the problem of the mutual interference and control distribution in the integrated stability control of active front steering (AFS) and electronic stability control (ESC), this study proposes a new integrated stability controller of AFS and ESC based on holistic control framework. A distribution rule of longitudinal and lateral tire force based on equal reserve capacity of tire force is designed to distribute the control right of steering and braking. A UniTire model with combined slip condition is also designed for the integrated control of steering and braking. Model predictive control (MPC) is adopted to address the constrained multi-objective control problem. To reduce the complexity of the system and improve the real-time performance of the system, a linear time-varying MPC controller is designed by linearizing the nonlinear system, and then the constrained MPC control problem is transformed into a quadratic programming problem for solving. Finally, the proposed method is validated on the basis of Matlab/Simulink and CarSim co-simulation platform. Results show that the proposed method has obvious effects on solving the mutual interference and control right distribution of steering and braking and improving vehicle stability.