Steering feel, or steering torque feedback plays an important role in the steering control task. In this report, a new driver steering control model incorporating steering torque feedback state estimation is proposed. The hypothesis is that the human driver obtains an internal mental model of the steering and vehicle dynamics, which is used in sensory perception, cognitive control, and neuromuscular action. The new model could be used to predict a driver’s responses when steering a vehicle with steering torque feedback.