The paper presents an integrated control strategy based on fuzzy logic for the simultaneous control of brake and steering in an ADAS system. Two Mamdani fuzzy controllers are designed, which use lateral deviation, orientation error and longitudinal speed to generate braking and cornering commands, with the aim of improving trajectory tracking and maintaining vehicle stability. The method is implemented in the MATLAB/Simulink environment and evaluated on a standardized dual-lane change scenario using a realistic dynamic model of the vehicle. The performance of the proposed system is analyzed by comparison with a reference control based on the Predictive Stanley Driver algorithm, as well as by comparative studies between fuzzy brake, steering and combined control. The results obtained show that the fuzzy strategy ensures stable trajectory tracking and smooth control controls, representing an interpretable and easily adaptable alternative for ADAS applications. The paper is structured into three main sections: Introduction; Design and Implementation of the Fuzzy Models; System Simulation and Results Analysis”; followed by the Conclusions section.