This paper presents a lateral control Advanced Driver Assistance System for cars, which uses both steering control and differential braking commands to aid drivers and enhance vehicle safety. The proposed strategy uses a LPV PI Observer for the estimation of driver performance over a range of vehicle speeds. This estimation is then used as scheduling signals to activate / deactivate the ADAS actuators. The strategy is tested in simulation with randomly generated driver profiles to prove the adaptability to a diverse range of driver's behavior.