Analytical adaptive algorithm for autonomous race driving

An autonomously driving vehicle comprising:

• at least one environmental sensor;
• a processor;
• a controller connected to a steering system, a brake system, and an acceleration system;
• a memory having instructions stored thereon that, when executed, cause the controller to:
• receive data corresponding to physical locations within an environment in which the vehicle is operating, at least one of the physical locations associated with a target location;
• determine a ground truth path within the environment, based on the plurality of GPS locations, wherein the ground truth path comprises a plurality of ground truth path locations;
• obtain, using the at least one environmental sensor, a current vehicle location;
• determine an extrapolated vehicle location based on a plurality of operating parameters of the steering system, the brake system, and the acceleration system;
• compare the extrapolated vehicle location to each location of the plurality of ground truth path locations;
• output a throttle value, a steer value, and a brake value based on a closest location of the plurality of ground truth locations;
• and
• adjust the plurality of operating parameters of the steering system, the brake system, and the acceleration system based on the throttle value, the steer value, and the brake value.