Suitable motor for steering wheel angle of the self-driving car?
You are looking for a servo motor with encoder feedback. The motor itself could be any type and position control done by, for example, a PID controller and feedback from the encoder. Many modern vehicles already have steering angle sensors.

Figure 1. Some vehicles are fitted with steering-angle sensors. It may be possible to read these over CANbus. Image source: Orchid-Tech.

I want to map the steering wheel motor angles with frames captured via a camera of the track. In order to generate the dataset ...

This seems a poor control strategy as it will be skewed by cross-wind, road camber, tyre wear, understeer, oversteer, etc. Instead work out the basic relationship between steering wheel and front wheel - you might want to read up on Ackerman angle - create an equation and use that as your first estimate of required steering input. You then use feedback from subsequent frames to bring the error to zero. That's the way humans do it too.