Recently, AVCS (Advanced Vehicle Control Systems) and AHS (Automated Highway Systems) for ITS (Intelligent Transport Systems) have been rapidly developed. Above all, the autonomous driving system enables a vehicle to be controlled automatically instead of the human driver's operation. However, we still have stability problems under the effect of the disturbances and the perturbations to the control plant model. In this paper, the model-matching control in longitudinal and lateral autonomous driving is investigated by vehicle dynamics simulation. The model-matching controller is constructed with 2 degrees of freedom controller to design the robust characteristics of the control plant model. For this purpose, the vehicle dynamic models including the model-matching controller are constructed for computer simulation. Simple examples are applied to check the validity of the model-matching control. As the practical example, the autonomous driving system is adopted. It is shown that the model-matching control can make the various characteristics of autonomous driving vehicles to be equivalent to those of a specific transfer function which is suggested as the reference model even if the parameters of the control plant model are changed.