1. Hodas, S., Design of railway track for speed and high-speed railways, Procedia Engineering, Vol.91 (2014), pp.256–261.
2. Inou, H., Fukao, T., Totsuka, S. and Okafuji, Y., Development of steering control system based on optical flow model, Denso technical review, Vol.20 (2015), pp.123–130 (in Japanese).
3. Kahya, A.H.M. and Schmidt, K.W., Clothoid-based lane change trajectory computation for self-driving vehicles, Cankaya University Journal of Science and Engineering, Vol.14, No.2 (2017), pp.152–179.
4. Kondo, M., Fundamentals of automobile engineering, Vol.1 (1974), pp.212–232, Yokendo (in Japanese).
5. Lan, F., Tamai, H. and Makino, H., Interpolation of arbitrary point sequence by triple clothoid curves, Japan Society for Precision Engineering, Vol.76, No.10 (2010), pp.1194–1199 (in Japanese).