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Path Tracking for an autonomous driver

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Based on the succes of labview for robotics, I need a method I can implement for an autonomus driver to learn a path driven by a person, and then drive it itself. I can get data like time, stering angle, gps coordinates and speed. For example If a person first drives the roundabot and takes the second exit. I need to implement a path tracking method for the vehicle to do it alone, yet I can not think of any good idea to do this. (I only control de accelarator and the stering wheel, so i can`t outspeed, and i will need to pass through the same points)

I am open and eager for suggestions

Thanx in advanc

 

 

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