To improve vehicle stability during emergency braking, this paper employs Direct Yaw-Moment Control (DYC) and Active Front-Wheel Steering (AFS). A two-degree-of-freedom vehicle model is established to obtain ideal yaw velocity and center of gravity side slip angle parameters. A hierarchical Direct Yaw-Moment controller is designed, with an upper layer using fuzzy PID control and a lower layer for torque weighting and distribution. An AFS controller based on sliding mode control is also designed, using the difference in yaw velocity to construct the sliding surface. A coordinated strategy is used to achieve combined control, with AFS controlling alone in stable regions, DYC controlling in unstable regions, and combined control in critical regions. The effectiveness of the designed controllers is verified through Carsim/Simulink co-simulation. Results show that the designed controllers have good control ability for vehicle yaw and that coordinated control provides better control effects, effectively maintaining vehicle yaw stability during emergency braking.