Algorithm 2. Rule for Steering Angle Adjustment.

traffic: enumerate {no-traffic, front of, left side, right side};

visibility: enumerate {no-visibility, low, good, outside};

rain, night: boolean;

speed, steering, r_diameter, r_lanes: float;

currentValues ← getSensorData()

predAngle ← predictSteeringAngle (steeringModel, currentValues)

α ← currentValues.steering - predictSteeringAngle

activateSteeringSystem (α)

end rule