I. Introduction
With an increasing interest in the use and deployment of self-driving cars, there is a pressing need to analyze and develop robust steering strategies for these automated vehicles. These strategies need to be able to steer an autonomous car in such a way that it smoothly guides itself and stays on the road even when the curves are unpredictable. To achieve that, we propose a stochastic optimal steering controller based on a bicycle kinematics model. This nonholonomic model has been frequently used in the literature as an approximation of car kinematics [1]–[3].