This article presents the development of a control law for vehicle steering, acceleration and braking in the autonomous driving context. A self-scheduled robust feedback control design strategy is proposed for the stabilization of the vehicle along a predefined reference collision avoidance maneuver. A non-linear vehicle model with tire forces saturation is developed. Its linearization along the reference trajectory leads to a Linear Parameter-Varying (LPV) model. An LPV H ∞ control law with pole placement is computed for the LPV model. Simulation results illustrate the stabilization of the vehicle along the reference trajectory.