I’m thinking about creating a simplistic video game. I’m not talking about anything fancy, but about a game like this:

Since I want to learn, I would prefer not to use libraries but roll as much as I can on my own. I’d need to know how to render the car and the track, deal with collision with other cars, etc. I’m targeting Linux, Mac OS X and iOS. I fear that using a library like OpenGL makes things “too simple”.
Are there any good resources out there that discuss this? Most of the tutorials / papers I have found are based around popular libraries & engines.
Sounds like you’re interested in learning from the level of Simple DirectMedia Layer.
If so, this might be a good place to start: http://gamedevgeek.com/tutorials/moving-sprites-with-sdl/
Probably followed by: http://www.gpwiki.org/index.php/SDL#Creating_a_Complete_2D_Engine
Also, for that particular rendering style, see:
Edit:
This information about the original Doom engine may be useful:
http://fabiensanglard.net/doomIphone/doomClassicRenderer.php
Also, Chocolate Doom is a port of the original Doom source into SDL, so you’ll probably learn some useful patterns studying the source for it:
http://www.chocolate-doom.org