Automotive Science and Engineering

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This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is 
similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle
and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are
discussed. After that, possible equations as vehicles path are investigated. Comparing advantages and
disadvantages of 7th, 11th degree and a few other equations, followed by single mass and bicycle models
lead to an improved method, which is presented in this paper.