AI In Racing Games

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However you want.

Waypoints probably work fine.
Each waypoint could contain specific data about the track at that point, such as:
- next track waypoint,
- waypoint skill level (easy, medium, hard; "racing line"),
- track width (lanes?),
- track angle (whether or not this waypoint describes a straight-away or a turn),
- track start/finish line,
- suggested speed for this section of track,
- etc. etc.