That's a huge task you have ahead of you, even for a proficient coder. TGC made Driving Test Success Practical, and it took Dave Milton over 3 years doing it full-time. Dave is a damn good coder.
You should start by looking at how other people have done it. You'll find lots of discussions here on these forums, and a few driving games lying around. I bought
AI Game Programming Wisdom 2 for the Racing and Vehicle AI section. It's only a few pages of a very big book, but has been worthwhile. You can probably find the same stuff across the internet too.
In short, step 1 is research. Collate all the free info you can. You won't use 90% of it, but you'll find out how everybody else does it. In between, brush up your coding skills and get to know DBP.
Good luck!