> At the current state of my model the model basically just clones the human driver as good as possible. That means the the amount of brake is higher in curves

I read in another comment that you are still in high school, so maybe the above is because you do not have actual driving experience. But this is not how human drivers drive.

Human drivers brake before the curves, while usually accelerate during curves. This improves stability.

This is something you may want to consider for your next iterations. In any case, congratulations for your impressive work!