Set-membership identification of a Linear Parameter Varying (LPV) model describing the vehicle lateral dynamics is addressed in the paper. The model structure, chosen as much as possible on the ground of physical insights into the vehicle lateral behavior, consists of two single-input single-output LPV models relating the steering angle to the yaw rate and to the sideslip angle. A set of experimental data obtained by performing a large number of maneuvers is used to identify the vehicle lateral dynamics model. Prior information on the error bounds on the output and the time-varying parameter measurements are taken into account. Comparison with other vehicle lateral dynamics models is discussed.