These cycles are not publicly available in a simple, easily-described format like "drive for 10 minutes at 30 mph, then 5 minutes at 60 mph". They are complex sequences of speeds, accelerations, and idle times designed to properly exercise the various emissions control systems. The specific parameters are proprietary to the testing agencies and manufacturers.
If you need to complete a specific drive cycle for diagnostic purposes (like to get a certain emissions-related code to run a test), you should consult your owner's manual (if it has this information) or a reputable repair manual specific to your 2001 Chevy Impala. Alternatively, a professional automotive diagnostic tool might provide instructions or automatically guide you through a necessary drive cycle.