This paper focuses on lateral control of autonomous vehicles. Two different approaches, among the most important ones dealing with a multi-objective synthesis problem, are presented and compared for the design of an efficient and comfortable assistance. The main aim here is to determine the best approach to meet the specifications of industrial applications. On one hand, a Linear Parameter-Varying (LPV) controller is synthesized, taking explicitly into account the speed and acceleration variations, through a dedicated LMI-based approach. On the other hand, a Gain-Scheduling (GS) controller is synthesized using existing non-smooth optimization algorithms. The comparison is carried out in the H 2 framework and the sought controller has a fixed structure, namely a Static Output Feedback (SOF) form to ease the real-time implementation. A detailed comparison of the two approaches is presented and based on simulations using real measurements of a camera.