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Generally speaking, lateral steering control method which ensures a good performance in tracking quality and handle quality simultaneously for autonomous vehicle is a changeling task. In order to keep the vehicle to stay safe when facing with severe situations such as an emergency lane change, a switched MPC lateral steering controller, which is on the basis of the stability feature of the vehicle, is presented in this paper. First, a MPC steering controller based on the 3DOF nonlinear vehicle model is derived, a comparative study of different vehicle models for MPC prediction are made. It proves that the presented MPC controller based on 3DOF nonlinear vehicle model possesses an advantage of balancing the conflicts between the tracking quality and handling quality of the vehicle.