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The normal terminology for the sides of a car are 'nearside' and 'offside', with the nearside being where the kerb is, offside being where other cars would be.

So I would suppose 'inside' and 'outside' were also considered relative to the kerb.

The fast lane is the furthest lane away from where you'd enter the motorway, therefore it's the outside lane (or so the logic goes!)

But... aren't entrances/exits usually on the "outside" of something?

Wow, I'd never thought of it like that. I'd always assumed "outside lane" was the lane closest to the "outside" of the road (ie. the edge) and "inside lane" was the opposite, and was very confused when I found out some people used it the other way around.