由于传统最小安全距离的换道模型忽视驾驶员个体差异，使其缺乏安全性和灵活性． 文中首先对与换道相关联的车辆的运动状态进行了详细的分析，给出了车辆与关联车辆之间各种可能的碰撞形式． 在此基础上，针对不同类型司机在不同换道环境下的驾驶特性，结合车辆运动学理论，建立基于不同行驶状态及不同司机类型的椭圆最小安全距离换道模型，能够较好地解决传统换道模型存在的缺陷． 最后通过Matlab 仿真对比发现，文中提出的模型由于考虑驾驶员因素，仿真结果与实际交通更为相符．

The traditional lane-changing models based on the minimum safety distance ignore drivers' individualdifferences,which leads to their lack of security and flexibility.In this paper,first,the movement states of the vehiclesrelevant to lane-changing are analyzed,and all kinds of possible collisions between the lane-changing vehicleand the relevant vehicles are described.Then,aiming at the characteristics of different drivers dealing with differentlane-changing situations and based on the vehicle kinematics theory,a minimum safety distance-based lanechangingellipse model is proposed according to different vehicle speeds and different types of drivers,which canremove the above-mentioned drawbacks.Finally,a simulation on the Matlab platform is carried out by using theproposed model.The results are consistent with the actual traffic phenomena,as the proposed model takes drivers'factors into account.