Trusting for the rest

Writing this book has been quite a creative stretch for me.
My background in PT is heavy in sciences and child development, so I am used to information organized and presented sequentially and logically. When I've written non-fiction materials for the PT or child development literature, I've created a plan in the form of an outline and written my manuscript according to the plan.
So, I tried to write fiction that way. The result was too formal and contrived. I got frustrated with it and gave up.
In reading a 'how to' book on writing fiction, I found some help. One author compared writing fiction to driving at night. You can only see as far as your headlights will allow, usually only until the next turn. But that's okay. It's far enough, and you just have to learn to trust for the rest. I decided to give that a try.
So, I created characters and put them in a time and place. Then I gave one a problem and let the characters go. Sometimes I feel like a spectator recording the action, and I haven't got a fully developed plan as to what will happen next or whether it will end how I originally hoped.
I still struggle with a feeling of being out of control of my story. Hopefully, I can continue to trust what I see, one little stretch of road at a time.