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.