The paper proposes the control design of a driver assistance system which integrates the brake, the steering, and a variable-geometry suspension system. In the control scheme a predefined road trajectory required by the driver with a steering command is followed to carry out various maneuvers. During maneuvers the control system generates the brake moments, modifies the front steering angle and changes the camber angles of the rear wheels. The control system must guarantee various crucial vehicle performances such as trajectory tracking and road stability. An actuator selection method in the control design is developed. A cruise control system based on robust LPV (Linear Parameter Varying) methods is designed with the emphasis on predefined velocity and path considerations.