Development of Lane Changing Model Considering Safety Range.

Drivers consider position, relative distance and relative velocity of adjacent vehicles for lane-changing. In this paper, a lane-changing model wasdeveloped. The developed lane-changing model was considered about the safety range of vehicles. The safety range depended on velocity of subject vehicle (SV), leading vehicle (LV) and following vehicle (FV). The safety range between SV and LV was calculated when LV vehicle decelerated was in urgent conditions. And the safety range between SV and FV was calculated when FV accelerated in urgent conditions. This paper developed lane-changing model using the safety range and simulated it. The result of simulation was that lane-changing behavior avoided collision between subject vehicle and adjacent vehicles