Abstract:

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.

Key words: lane changing, driving characteristic, ellipse model, intelligent vehicles, minimum safety distance