This paper presents a control approach allowing a tight integration of several driver assistance functions in automotive vehicles, including front steering, differential braking and autonomous emergency braking. The goal is to support a more effective collision avoidance with necessary emergency maneuvers during automated driving, while avoiding situations with a high risk of undesired vehicle instability due to separated steering and braking actions. The approach adopts a ModelPredictive Control (MPC) based methodology using a set of performance indexes calculated according to the actual time to collision, braking and steering capabilities. The effectiveness of the proposed methodology is evaluated in a simulation on MATLAB/Simulink.