Uhm i've read Craig Reinolds paper. It's path following algorithm is very interesting.. Quite better than mine! It's also not too difficoult to implement.
I'll surely try it.

He also describe the obstacle avoidance algorithm, but i think it will be much more difficoult for me, since he uses "actors" that have much more freedom of steering than a car. He can add "side force", while i of course can not

Also, i've found interesting the use of a neural network for driving a car. Does this really works ? Anyone experienced with NN here ?