I'm somewhat confused. I want to simulate in real-time an intersection where cars have to turn left, right or go straight. What I have are 2 way points: One at the beginning of the intersection on the incoming street and the other at the end of the intersection on the outgoing street. As I know the next way point on the outgoing street, I know which direction the car should be pointing.
How would I slow the car down to the optimal speed, calculate its steering angle and correct it in a time interval so that the car drives an optimal curve?
A resource I have found, that seems quite good for this is the following paper.
I just don't really understand the first part of the paper where the Circular track is calculated. At which point is the steering angle applied?