The aim of this paper is to present a novel methodology that deals with steering/ braking coordination task for vehicle yaw control. For steerability enhancement, only active steering control is involved. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. Judging the vehicle stability region is deduced from the phase-plane of the sideslip angle and its time derivative. The coordination of the steering/braking actuators is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller. The controller is synthesized within the LMI (Linear Matrix Inequalities) framework, while warranting H∞ performances. The simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various driving situations.