I need help figuring how to control a robocar at speed. Simply said:

The MODEL level car has proportional control. I preset the max velocity with a POT. I need a robo system that can figure out when to turn given the speed and the distance of oncoming obstacles.

The TOY level cars have only bang-bang controls. Their tires are plastic. They slide and skid. The 1/12 scale car is slow enough for simple sonar distance threshold control. Boring!! The 1/10 scale car is a big fast colorful device: spectacular and fun! With size and speed comes momentum. I need to get better control of the steering (current drivers instead of DPDT relays?) and an algorithm to implement that control.

Any ideas?

Ken