The aim of this paper is to present an algorithm that, by an actuator reconfiguration, performs tracking and rollover prevention at the same time. Using an active steering control a path following task can be realized. However during operational time maneuvers might occur when overturning moments are generated. By the brake mechanism rollover prevention can be ensured but the real path will significantly deviate from the desired one and this effect on the yaw motion has to be compensated using active steering. The integrated control of the steering and braking actuators that realizes the balance between the tracking task and rollover prevention is designed based on a Linear Parameter Varying (LPV) model. The conflict between these performance demands can be avoided by a suitable reconfiguration of the active suspension system by generating roll moments to reduce the rollover risk without affecting the yaw dynamics. Thus the critical level when braking must be applied to prevent rollover situation is increased by an active suspension mechanism.