This paper aims to develop an active tire anti-skid control strategy that integrates the Lane-Keeping Control System (LKCS) to enhance the reliability and safety of autonomous vehicle functions. In this work, the enhanced LKCS is designed using the Model Predictive Control (MPC) technique and taking into account of the variation and limitation of tire-road friction. The Unscented Kalman Filter (UKF) is used for longitudinal tire-road friction estimation, which is further applied to regulation control of tire sideslip angles. Simulation results show that the enhanced LKCS is able to outperform the conventional LFCS in following a curvy path with variable friction levels whilst maintaining vehicle stability.