A computer-implemented method for determining a steering rate for operating an autonomous vehicle, the method comprising: determining a plurality of steering rate candidates for a steering control command of operating an autonomous vehicle; for each of the steering rate candidates, calculating a plurality of individual costs for the steering rate candidate by applying a plurality of cost functions, each cost function corresponding to one of a plurality of cost categories, and calculating a total cost for the steering rate candidate based on the individual costs produced by the cost functions; selecting one of the steering rate candidates having a lowest total cost as a target steering rate; and generating a steering control command based on the selected steering rate candidate to control a steering wheel of the autonomous vehicle; wherein calculating an individual cost for the steering rate candidate comprises calculating a first individual cost based on a difference between a target steering position and a current steering position of the autonomous vehicle using a first cost function, the method further comprising: assigning the first individual cost as the difference between the target steering position and the current steering position minus a numeric value of the steering rate candidate if the steering rate candidate is less than the difference; and assigning the first individual cost as zero if the steering rate candidate is greater than or equal to the difference. determining a plurality of steering rate candidates for a steering control command of operating an autonomous vehicle; for each of the steering rate candidates, calculating a plurality of individual costs for the steering rate candidate by applying a plurality of cost functions, each cost function corresponding to one of a plurality of cost categories, and calculating a total cost for the steering rate candidate based on the individual costs produced by the cost functions; selecting one of the steering rate candidates having a lowest total cost as a target steering rate; and generating a steering control command based on the selected steering rate candidate to control a steering wheel of the autonomous vehicle; wherein calculating an individual cost for the steering rate candidate comprises calculating a first individual cost based on a difference between a target steering position and a current steering position of the autonomous vehicle using a first cost function, the method further comprising: assigning the first individual cost as the difference between the target steering position and the current steering position minus a numeric value of the steering rate candidate if the steering rate candidate is less than the difference; and assigning the first individual cost as zero if the steering rate candidate is greater than or equal to the difference. assigning the first individual cost as the difference between the target steering position and the current steering position minus a numeric value of the steering rate candidate if the steering rate candidate is less than the difference; and assigning the first individual cost as zero if the steering rate candidate is greater than or equal to the difference. <EOS>