In this paper, the longitudinal and lateral fuzzy control vehicle systems are considered separately due to the decoupling under the assumption of small varying velocity and steering angle. Firstly, the problem of longitudinal control system design is to concentrate on the car-following strategy and the single-input fuzzy logic controller (SFLC) is adopted here to achieve a safety-distance keeping between the preceding and following vehicles with the same velocity and acceleration. Besides, the pole-placement technique with proposed fuzzy gain scheduling (FGS) and observer design are developed to improve the lateral control of vehicles. The kernel of FGS is the inference rule base which provides a natural environment to incorporate engineering judgment and human knowledge for vehicle steering controller. Moreover, FGS can also be anticipated to handle the substantial nonlinearities in vehicle dynamics, the tire characteristics or asymmetry in mechanism. Finally, the simulation results show the efficiency of our approach.