Evolution of new technologies, market preferences and vehicle safety standards and regulations motivate the automotive industry to contribute to higher quality mobility and safer transportation for the society. With the compelling development of electronics over the past few decades, passenger cars are equipped with an increasing number of active safety systems, and even the fitment of some of those has become mandatory in regulations, such as ABS (Anti-lock Braking System) and ESC (Electronic Stability Control). As a result, the integration becomes necessary to meet the fast introduction of new functionality and to supervise and manage different variety of controllable vehicle subsystems, attracting the interests from both the industry and the academia. Numerous studies have proven integrated chassis controls to have incomparable advantages in multiple-objective performance improvement, hardware complexity and system costs reduction, interference prevention, system reliability and fault-tolerant capability. Among the previously explored integrated control architectures, hierarchical strategy is considered the most proper one, as it allows the cooperated development between OEMs and suppliers and make good use of existing subsystems. Within this context, this study proposes a novel adaptive wheel force feedback control allocation algorithm utilizing SKF load sensing bearing technology, to coordinate ABS, ESC and AFS (Active Front Steering). It aims to investigate a real-time implementable framework which is open to the extensions and integration of other load-sensing based control subsystems. The proposed approach is validated and evaluated by open-loop and driver-in-the-loop tests performed on multi-body vehicle model in Simulink-CarSim co-simulation.