Yeh, the http://www.red3d.com/cwr/steer/
site is what I was refering to about openSteer steering framework. The concept is effective but it's just the codes are all in c++.
Since there wasn't any java codes around, I converted basically all the c/c++ examples I could find. I'm about half way there so its all good now, just tweaking here and there. This is how I implemented my code. Since the genre is about racing, I used finite state machines to detect the current states according to the environment.
What I did was, I load the data of the current race track with predefined sectors which consists of point on the left and points of the right of the forward direction. I let the fsm checks the current and the next sector based on a racing line. This racing line is generated by human input such as keyboard. All of the class is independent to each other such as steering,vehicle physics, world, input so I could add features to it in the future such as network multiplayer support without changing the game structure.
Once I get this up and running well, I'll see if I can simplify the process for easy viewing.
Thanks for the replies.