The work described in this paper is part of a larger research program named Partage whose goal is to appropriately share lateral control between the driver and an electronic copilot or assistance. The present study is looking for a cybernetic model of a driver steering road vehicle, which makes the sensorimotor dynamics explicit. The proposed model takes into account both visual and kinesthetic perception, and includes compensatory and anticipatory processes. As such, it extends previous works. Starting from simulated car trajectories, the unknown parameters of the model are identified using the grey box identification concept. The driver-vehicle system is then analyzed with respect to the parameter sensitivity.