Abstract A Model Predictive Control Allocation (MPCA) scheme for integrated vehicle dynamics control is developed in this paper. The system is constructed in a hierarchically coordinated control form. In upper layer, the robust nonlinear sliding mode controller is designed to generalize the total vehicle forces required to track the desired vehicle motion. In lower layer, the active steering, wheel slip and electrical motor torque controllers are designed. The MPCA method is employed for computationally efficient distribution of control effort to each wheel. After the forces redistribution, the active steering angle and the driving torque of each wheel are generated to produce the desired yaw moment and vehicle speed. A nonlinear nine degrees of freedom vehicle/driver model and two driving scenario simulations are used to verify the effectiveness of this scheme. The results illustrate considerable improvements in vehicle handling.