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This study presents a solution for the integrated longitudinal and lateral control problem of urban autonomousvehicles. It is based on a gain-scheduling linear parameter-varying (LPV) control approach combined with the use of anUnknown Input Observer (UIO) for estimating the vehicle states and friction force. Two gain-scheduling LPV controllers are usedin cascade configuration that use the kinematic and dynamic vehicle models and the friction and observed states provided bythe Unknown Input Observer (UIO). The LPV–UIO is designed in an optimal manner by solving a set of linear matrix inequalities(LMIs). On the other hand, the design of the kinematic and dynamic controllers lead to solve separately two LPV–LinearQuadratic Regulator problems formulated also in LMI form. The UIO allows to improve the control response in disturbanceaffected scenarios by estimating and compensating the friction force. The proposed scheme has been integrated with atrajectory generation module and tested in a simulated scenario. A comparative study is also presented considering the casesthat the friction force estimation is used or not to show its usefulness

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