I came across fiddling with torcs for a while for self-driving tests. In some case, I need to reset the car to the middle of the track when stuck. After some trial and error and studying into the code, I found out that the tCar struct always records the closest main part of the track in trkPos, albeit the car might be in the rside and lside segments attached to the track. So generally, one section of a track consists of main road, left side and right side, left border and right border. Their composition is as follows,
