+1

Steering a bicycle is identical at all speeds, except for the timing and amount of steering inputs.

While most people think they balance a bicycle, that's a fallacy. The truth is that the bicycle is constantly falling to one side or the other and we unconsciously steer to bring the wheels below the center of gravity and recover. Turning is the same, except change cnter of gravity to center of forces.

The key here is that it's brain controlled, but not consciously so. It's controlled by the same motion control pathways in the cerebellum that we use for walking, dancing, playing the piano, and so on. These pathways are set and improved through repetition,, and once that's done, conscious control no longer wanted or neeeded.

So, how many who are consciously counter steering or not (or think they are or aren't) think the same way about walking or running. If we want to make a turn while running, we take a step to the outside of the planned turn and push off into the turn. Except, maybe for athletes being coached early in their careers, nobody thinks about this, we just do it because we learned long ago that if we didn't we'd fall on our faces. Some may be doing the same and not knowing they do. Likewise with bicycling, we swing the front wheel to the outside of the turn to drive is into it.

Think about running a ship for a moment. If the captain wants to execute a course change, he issues a command, and the crew executes it seamlessly. Now imagine if the captain decides to take charge and control every step of what's needed to turn a ship. The odds are against him and the turn won't be nearly as smooth or precise as when the crew that did it time and again were left alone.

That's what walking and riding a bike are like. All the necessary is preprogramed through repetition, after which thinking about will only mess things up.

Here's an experiment. Walk down a flight of stairs, now run down. When you get to the bottom think back and you'll see that you didn't think about it, you just did it. Now do the same carrying a box that partly obscures your view. Now, you get nervous, especially as you near the landing, "is there one more step, or is this the last one?" and suddenly what worked fine on autopilot, suddenly gets clumsy on manual.

So, my advice to all those trying to improve your skills is stop thinking about, and trust the autopilot. Improve the autopilot through practice and repetition, then let it do it's job because it's infinitely better at it that you could ever be.

Think about running a ship. On a well run ship