Algorithm 1. Recognition Process Algorithm of Steering Maneuver
1:	Begin:
2:	Inputs: State, Gyro, En, numsModule, Yaw, Gyro_t, Turn_flag
3:	switch State
4:	case Slience and Excess
5:	if En > En_low
6:	State < −Excess
7:	Record the holdTime and startPoint
8:	else if En < En_high
9:	State < −Bump
10:	Record the start time and holdTime
11:	else
12:	State < −Slience
13:	clear the holdTime
14:	case Bump
15:	if En > En_low
16:	Record the holdTime
17:	else
18:	if holdTime < MinHoldTime
19:	State < −Slience
20:	clear the holdTime
21:	endPoint = startPoint + holdTime
22:
23:	distArray[numsModule]
24:	for(times = 1;times < numsModule;times++)
25:	{
26:	distArray[times] = fastDTW (Gyro.startPoint, Gyro.endPoint, ref_Gyro)
27:	}
28:	driveResult = min(distArray) and Yaw
29:	Gyro_t = Weather()
30:	If Turn_flag == No
31:	If Gyro > Gyro_t
32:	driveResult = Sharp_CarelessDriving
33:	else
34:	driveResult = CarelessDriving
35:	else
36:	If Gyro > Gyro_t
37:	driveResult = SharpDriving
38:	else
39:	driveResult = NomalDriving