At hypediss.com I found this description of how it was done:
The BMW 330i in the video is able to learn from a human driver how to navigate a track (i.e. how to take the corners and what lines to follow), and then it can repeat the course at race speeds without any human assistance whatsoever. This technology, which could be adapted to other types of cars, is based primarily on a military-grade GPS system that is able to locate the car within a few centimeters. Since the car knows exactly where it is, it can compare its present location with the instruction it received on the track, and then perform the same maneuvers as the human driver did. There isn’t much in the way of creativity involved here, and the BMW doesn’t seem to be outfitted with any other sensors that might allow it to react to other cars or unforeseen obstacles, but all of that stuff is in existence already.
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