So yeah, I decided to ditch my plan for the Artificial Intelligence, because it was getting way too complicated (and it probably wouldn't work anyway). Instead, I'll use the tried-and-true waypoint method. So, I decided to get the AI to be able to aim itself at a point. The best way to test that, in my opinion, was to have a moving target - that is, the human-controlled car. And it seems to work! The artificial intelligence is using the exact same controls as the human - left, right, and 2nd.
![Smile :)](./images/smilies/grayscale_smile.gif)
![Image](http://otbp.tifreakware.net/images/fzero.gif)
Edit:
Update - got waypoints working!
![Image](http://otbp.tifreakware.net/images/fzero2.gif)