The Roman Empire was an empire before Augustus. It was an empire under the republican form of government. In other words Rome was governed as a republic before Augustus. During and after Augustus the empire was governed by the principate form of government.
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Augustus was the ruler of the Roman Empire when the Aeneid was written. In fact, he specially commissioned Virgil to write it.
He knew the Senate wanted the other type of government, but, however, he also knew that the republic had been too weak to solve Roman's problems. Although he gave some power to the Senate, he really put himself in charge.
The Roman Empire collapsed after Christ's death.
Julius Caesar overthrew he senate and started the Roman Empire. Augustus Caesar, Julius' grand-nephew, was the first emperor.
He was a Roman emperor but he mostly governed the Eastern half of the empire