I am trying to create a traffic simulator but I am having trouble finding a good way to steer my vehicles around corners. The world is basically a 2D tile map where the corners/vertices of each tile can have different height, so basically a tessellated plane with heightmap. The vehicles driving the map are full 3D. Roads can just be laid out on flat tiles or straight slopes. See the picture below for reference (A orthogonal top view would look like this), the red and green lines represent the lanes and the path vehicles should follow.
Pathfinding is …