In order to improve the highway safety and reduce traffic accidents in the northern region in winter, speed limit of horizontal curve section on ice and snow pavement was studied. Appling theory of vehicle kinematic, and considering drivers’ driving characteristics at the curve of the road, vehicle’s turning characteristic were analyzed on the snow and ice pavement, and the vehicle’s kinematics model on horizontal curve section was established. Freight truck and passenger car were selected as experimental vehicles, and loose snow pavement, compacted snow pavement and ice pavement were selected as experimental pavement. The relation models were established between speed and horizontal curve design index. Selecting three kinds of curve sections with the superelevation value of 6％, 8％ and 10％, vehicle speed-limit control model was solved by Matlab simulation technology, the correlation of speed, circular curve radius and superelevation was analyzed. Safe driving speeds according to different circular curve radius were given on loose snow pavement, compacted snow and ice pavement. It can provide theoretical basis for determining scientific and reasonable speed limit value on highway horizontal curve section under the condition of ice and snow pavement.