Lane changing using s-series clothoidal approximation and dual-rate based on Bezier points to controlling vehicle

This paper presents a fast lane changing algorithm for Intelligent Vehicle Highway Systems. The algorithm is based on the use of polinomial approximation of clothoids by using s-series. A new and accurate method that permits to obtain a polinomial with a low degree. Using this approximation we build an elementary path. We introduce a trigonometric approximation of elementary paths for the calculus of the characteristic parameter. With this, we particularize a bi elementary paths to solve lane changing, obtaining a big simplification. The second part of the paper speaks about vehicle control. Using a clothoidal path we have more advantages, Curvature Radius change regularly along the path, control of centrifugal acceleration for comfort of passengers which is achieve by the use of velocity control. Another advantage is the use of Dual-rate based on Bezier function, because is very easy obtain Bezier control points through s-series.