Future driving assistances will be designed in such a way that their action blends into the perceptual and motor control loops of the driver without yielding negative interference. This objective cannot be reached without integrating into the design process a model that allows making valid predictions on the behaviour of the driver. In that context, this paper will deal with the understanding and modelling of the driver's steering behaviour, with an emphasis on the role of visual information and kinaesthetic feedback. This paper describes strategies of steering and speed control used by the driver and the combined cornering and braking condition is analyzed. For the driver speed control, the information of driver visual direction is used to determinate anticipatory speed control during curve negotiation.