This paper studies the integrated control problem of autonomous vehicle steering system and lateral stability. Firstly, considering the steer-by-wire system dynamics and vehicle lateral dynamics together, an uncertain integrated model is established for controller design. Secondly, an adaptive event-triggered scheme is adopted in the control system design to save the communication resources of the in-vehicle communication network and reduce the potential network congestion. Thirdly, considering the time-varying longitudinal velocity and measurement error uncertainty in the system, an interval type-2 fuzzy-based controller is designed, and the H tracking performance is guaranteed. In addition, due to the presence of system state variables that are difficult to measure, the static output-feedback scheme is used in control design, and a co-design method of the feedback gains and the event-triggering weight matrix is presented. Finally, the performance and superiority of the designed controller are verified via the real-time hardware-in-the-loop experiment. The experimental results show that the designed control strategy can effectively improve the lateral stability under the premise of precise steering and significantly save the communication bandwidth.