The invention discloses a coordinated control method and a coordinated control device for electronic differential speed and active differential steering. The coordinated control method comprises the following steps of: calculating an ideal yaw angular velocity omega d according to a steering wheel rotation angle delta f input by a driver; Calculating a moment Mb according to the yaw angular velocity omega d; Judging whether the direction of the output rated torque KsMz of the active differential steering controller is the same as the direction of the torque Mb when the active differential steering controller is in the auxiliary driving mode, and detecting the actual yaw angular speed omega r of the vehicle if the direction of the output rated torque KsMz is the same as the direction of thetorque Mb; Otherwise, it is judged whether[Omega] r ( [Omega] D); If yes, the electronic differential controller and the active differential steering controller control simultaneously, otherwise, theelectronic differential controller stops the control. The invention can reasonably and effectively coordinate the working relationship between the two controllers, and solves the problem that the driver and the control system interfere with each other when the lane departure auxiliary control system of the traditional automobile is designed based on the steering.