Calculating Steering Angle for Curve

Question

I am a vehicle trying to get from point $A$ to point $B$. $A$ and $B$ are on the same line, but the vehicle needs to travel along a curve outside the line, how do I calculate what angle the vehicle needs be steering and where the vehicle should point to start off? Also, turning point needs to be halfway between point $A$ and $B$, and as close to $1$ meter off the line as possible. Is there a formula that takes into account mass and acceleration? Diagram of what I'm referring to