多連クロソイド曲線を用いた曲率変化の滑らかな走行路緩和曲線の提案

（第３報：車線変更への適用）

抄録

This paper presents theoretical research on an optimum transition curve with a smoothly changing curvature using a multiple clothoid curve for improving the occupant ride comfort of automobiles when vehicle changes a lane from a traveling lane to a passing lane. In the first report, a three dimensional vehicle occupant model was developed, and the multiple clothoid curve was proposed as a new transition curve. In this paper, application of the multiple clothoid curve for the vehicle lane change is presented. The traveling path from a slow lane to a fast lane consists of the combination of a straight line and an arc of circle. At the connecting points between an inlet straight line and a circular arc, or between a circular arc and an outlet straight line, vehicles cannot run smoothly owing to the discontinuity of curvature. Then, the smoothly changed curvature of multiple clothoid curve is applied as a transition curve at connecting points. Four sorts of lane change which consists of various combination of a straight line and a circular arc are investigated, and the validity of the application of a multiple clothoid curve as a transition curve at connecting points is explained. It was found that the influence of multiple clothoid curve on the vehicle movement and a ride comfort is superior to those of the noninterpolation.