The paper deals with a robust autonomous path-following functionality, in which the safe velocity and the motion profile of the vehicle with varying tyre-road contact must be guaranteed. The integration of Linear Parameter-Varying (LPV) control and the results of the machine learning-based analysis on the big data of autonomous vehicles is proposed. The integration is achieved in two steps. First, an estimation method on the adhesion coefficient through decision trees is presented. The result of the estimation is incorporated in the robust LPV control through a scheduling variable. During the control design, the error of the machine-learning algorithm is incorporated. Second, an optimisation method of the longitudinal velocity on a predicted horizon is proposed, which is aided with the machine learning-based reachability set approximation of the steering intervention. The effectiveness of the control strategy is illustrated through CarSim simulations.