Fast lane changing algorithm for intelligent vehicle highway systems using clothoidal theory and bezier points

This paper presents a fast lane-changing vehicle algorithm for Intelligent Vehicle Highway Systems. With the use of S-series, an algorithm is formulated, resulting in a new and accurate method to calculate a low degree polynomial. In this process, an elementary path is initially assumed. A trigonometric approximation of this elementary path is subsequently introduced for the calculation of the related parameters. Bi-elementary paths are then used to project lane changing. In the second part of the paper, vehicle control is analysed. The use of a clothoidal path presents more advantages: it permits regular curvature radius changes along the path, while keeping a constant passenger comfort level. This is achieved by a continuous monitoring of centrifugal acceleration through velocity control. Another advantage is the use of dual-rate estimation based on the Bezier function: obtaining Bezier control points through S-series is quite simple.