Notice of Violation of IEEE Publication Principles: Fast lane changing algorithm for intelligent vehicle highway systems using clothoidal theory and Bezier points

Notice of Violation of IEEE Publication Principles

"Fast Lane Changing Algorithm for Intelligent Vehicle Highway Systems Using Clothoidal Theory and Bezier Points"
by Konstantinos Fotiades and John Seimenis,
in the Proceedings of the Intelligent Vehicles Symposium 2005, pp. 73-77

After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles.

This paper contains significant portions of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.

Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article:

"Lane changing using s-series clothoidal approximation and dual-rate based on Bezier points to controlling vehicle"
by N. Montes and J. Tornero,
in WSEAS Transactions on Circuits and Systems, vol 3, pp. 2285-2290, December 2004.


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. Then 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.