In order to enhance the steering portability, the handling stability, the ride comfort and the safety of the car, the full-car model of the integrated control system of electric power steering (EPS) system and semi-active suspension (SAS) was established, and the fuzzy-PID controller by the fuzzy rule control combined with PID control technology was designed. The simulations were performed and the results are shown that the integrated system can improve the dynamic performance, keep the good car-body attitude and enhance the ride comfort.