This paper investigates the field of Fault Tolerant Control (FTC) and Fault estimation (FE) within an integrated approach, for linear parameter varying (LPV) systems. Integrated approach here concerns the fact that just one single synthesis is performed for both FTC and FE. The approach taken relies on polytopic control with $\mathcal{H}_\infty$-synthesis to handle self-scheduled systems, and solved via LMIs. The proposed method is directly applied on a vehicle lateral dynamics control system making use of a bicycle model, but the approach can be easily extended for other LPV systems. Hence, simulations illustrate the effectiveness of the proposed integrated method.