Nowadays, there is a steady increase of electronic components in vehicles due to the high and underlying importance of improving both, the safety and the driving experience of the driver and passengers. In this paper, a hierarchical control architecture approach with two layers is used in the integrated control system of ground vehicles. The active suspension system (ASS) and electronic stability program (EPS) are integrated in order to improve the dynamic performance of the vehicle in both, stability and handling. The upper layer monitors the driver's intentions and coordinate the interactions between the ASS and EPS subsystems. The lower layer is the stand-alone actuator control of the two subsystems studied. In order to achieve the proposed objectives, two vehicle dynamic models are used: non-linear model for simulating the dynamic behavior of the vehicle and 2 degrees of freedom (DOF) model for designing controllers and calculating the desired response of the driver's input. Using this approach to integrate the vehicle controllers, the simulation results illustrate improvements on stability and handling vehicle performance over the non-integrated control approach..