lane changing
The discrete lane-change maneuver: deciding to change lanes, accepting a gap, and executing the lateral transition between lanes, including lane-change frequency and safety. This is a bounded event of leaving one lane for another, distinct from continuous within-lane position-keeping (lane_positioning) and from the turn-signal use that may accompany it (signaling_behavior).
Relevant standards
- ISO 17387:2008 — Intelligent transport systems — Lane change decision aid systems (LCDAS) — Performance requirements and test procedures
- ISO 23375:2023 — Intelligent transport systems — Collision evasive lateral manoeuvre systems (CELM) — Requirements and test procedures
- ISO 26022:2010 — Road vehicles — Ergonomic aspects of transport information and control systems — Simulated lane change test to assess in-vehicle secondary task demand
- ISO/DIS 23792-2 — Intelligent transport systems — Motorway chauffeur systems (MCS) — Part 2: Requirements and test procedures for discretionary lane change
- SAE J2802 — Blind Spot Monitoring System (BSMS): Operating Characteristics and User Interface
- SAE J3045 — Truck and Bus Lane Departure Warning Systems Test Procedure and Minimum Performance Requirements
- SAE J3240 — Passenger Vehicle Lane Departure Warning, Lane Keeping Assistance, and Lane Centering Assistance Systems Test Procedure
138 paper(s) · ranked by relevance to this topic
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A comprehensive examination of naturalistic lane-changes · 2004 · Lee, Suzanne E. et al. · archived
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If, When, and How to Perform Lane Change Maneuvers on Highways ↗ · 2016 · Nilsson, Julia et al. · indexed
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Analyzing Microscopic Behavior: Driver Mandatory Lane Change Behavior on a Multilane Freeway · 2008 · Bham, Ghulam H. · archived
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Empirics and Models of Fragmented Lane Changes ↗ · 2020 · Mullakkal-Babu, Freddy Antony et al. · indexed
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Comparisons of Mandatory and Discretionary Lane Changing Behavior on Freeways · 2018 · Vechione, Matthew et al. · archived
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A Comprehensive Examination of Naturalistic Lane-Changes ↗ · 2004 · Lee, Suzanne E. et al. · indexed
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Developing a model to determine the number of vehicles lane changing on freeways by Brownian motion method ↗ · 2021 · Afandizadeh, Shahriar et al. · indexed
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Analysis of Truck Driver Behavior to Design Different Lane Change Styles in Automated Driving · 2020 · Wang, Zheng et al. · archived
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Characterization of arterial traffic congestion through analysis of operational parameters (gap acceptance and lane changing). · 2010 · Gurupackiam, Saravanan et al. · archived
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Modeling and Analysis of the Lane-Changing Execution in Longitudinal Direction ↗ · 2016 · Yang, Da et al. · indexed
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Determinants Behind the Taste Variation in Discretionary Lane Changing Behavior of Drivers Facing Downstream Queues · 2025 · Matin, Seyed Hamed Seyed et al. · archived
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Modelling lane-changing execution behaviour in a connected environment: A grouped random parameters with heterogeneity-in-means approach ↗ · 2021 · Ali, Yasir et al. · indexed
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Mandatory lane-changing decision and control method based on game theory. · 2026 · Wang, Z et al. · archived
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Modelling lane changing behaviour in approaches to roadworks: Contrasting and combining driving simulator data with stated choice data · 2020 · Hess, Stephane et al. · archived
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Crash Risk Estimation Due to Lane Changing: A Data-Driven Approach Using Naturalistic Data ↗ · 2020 · Mahajan, Vishal et al. · indexed
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Even Experienced Drivers Have the Wrong Concept about How to Change Lanes ↗ · 1997 · Wallis, G M et al. · indexed
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A Driving Simulator Investigation on the Aggressiveness of an Automatic Lane-Change System · 2025 · Guan, Muhua et al. · archived
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General Lane-Changing Model MOBIL for Car-Following Models ↗ · 2007 · Kesting, Arne et al. · indexed
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Validation of lane-changing behaviour in a weaving section using a driving simulator experiment ↗ · 2025 · Mao, Suyi et al. · indexed
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Detecting Critical Mismatched Driver Visual Attention During Lane Change: An Embedding Kernel Algorithm ↗ · 2024 · Xu, Jingbin et al. · indexed
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Dynamic Modeling and Control of High-Speed Automated Vehicles for Lane Change Maneuver ↗ · 2018 · Liu, Kai et al. · indexed
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A Lane Change Assistance System Based on Prediction of Driver Intention · 2024 · Tanshi, Foghor et al. · archived
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Lane Change Hazard Analysis Using Radar Traces to Identify Conflicts and Time-to-Collision Measures · 2023 · Guduri, Balachandar et al. · archived
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Exploring lane change safety issues for manually driven vehicles in vehicle platooning environments ↗ · 2018 · Lee, Seolyoung et al. · indexed
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Improving driver decisions and performance in high-speed, multilane, complex conditions. · 2009 · NHTSA · archived
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Freeway Lane Selection Algorithm : [fact sheet] · 2006 · NHTSA · archived
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Risk assessment for automatic lane change maneuvers on highways ↗ · 2017 · Noh, Samyeul et al. · indexed
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Research on lane-changing decision and control of autonomous vehicles based on game theory ↗ · 2024 · Li, Guozhen et al. · indexed
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Lane-Change Detection Using a Computational Driver Model ↗ · 2007 · Salvucci, Dario D. et al. · indexed
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Experimenting With an Efficient Driver Behavior Dynamical Model Applicable to Simulated Lane Changing Tasks · 2024 · Jirgl, Miroslav et al. · archived
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Segment level safety analysis using lane-changing behavior and driving volatility features from connected vehicle trajectories · 2025 · Han, Lei et al. · archived
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A kinematic wave theory of lane-changing traffic flow · 2010 · Jin, Wen‐Long · archived
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Analysis and Modeling of Lane-Changing Game Strategy for Autonomous Driving Vehicles ↗ · 2022 · Qu, Dayi et al. · indexed
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Driving Etiquette · 2019 · Peng, Huei et al. · archived
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Safety of the Intended Functionality of Lane-Centering and Lane-Changing Maneuvers of a Generic Level 3 Highway Chauffeur System · 2020 · Becker, Christopher et al. · archived
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Detection Method of Lane Change Intentions in Other Drivers Using Hidden Markov Models · 2015 · Woo, Hanwool et al. · archived
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Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers ↗ · 2023 · Donà, Riccardo et al. · indexed
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The 100-Car Naturalistic Driving Study · 2005 · NHTSA · archived
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Shared Control for Vehicle Lane-Changing with Uncertain Driver Behaviors · 2025 · Wu, Jiamin et al. · archived
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Drivers' lane changing behavior while conversing on a cell phone in a variable density simulated highway environment · 2008 · Cooper, JM et al. · archived
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Baseline Analysis of Driver Performance at Intersections for the Left-Turn Assist and Intersection Movement Assist Applications · 2020 · Stevens, Scott et al. · archived
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Research on intelligent connected vehicles lane change trajectory optimization based on risk field in mixed traffic ↗ · 2026 · Shang, Ting et al. · indexed
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Object-Oriented Bayesian Networks for Detection of Lane Change Maneuvers ↗ · 2012 · Kasper, Dietmar et al. · indexed
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Analyzing cooperative lane change models for connected vehicles ↗ · 2014 · Khan, Umer et al. · indexed
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Risk Representation, Perception, and Propensity in an Integrated Human Lane-Change Decision Model ↗ · 2022 · Jiang, Longsheng et al. · indexed
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Analysis of Lane-Changing Decision-Making Behavior of Autonomous Vehicles Based on Molecular Dynamics ↗ · 2022 · Qu, Dayi et al. · indexed
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Modeling Drivers’ Lateral Motion Control · 2015 · Ni, Daiheng · archived
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Alternative Definitions of Passing Critical Gaps · 2011 · Toledo, Tomer et al. · archived
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Situation Assessment in Tactical Lane Change Behavior Planning for Automated Vehicles ↗ · 2015 · Ulbrich, Simon et al. · indexed
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Early Lane Change Prediction for Automated Driving Systems Using Multi-Task Attention-Based Convolutional Neural Networks · 2022 · Mozaffari, Sajjad et al. · archived
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Human Factors Study to Understand Driver Behavior on Managed Lane Facilities · 2025 · Alluri, Priyanka et al. · archived
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Classification of Automated Lane-Change Styles by Modeling and Analyzing Truck Driver Behavior: A Driving Simulator Study · 2022 · Wang, Zheng et al. · archived
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Integrating Human Behavior Toward the Development of Safer Cooperative Automated Transportation: Implementation of SHRP2 Naturalistic Driving Study · 2023 · Ahmed, Mohamed et al. · archived
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Scenario model predictive control for lane change assistance on highways ↗ · 2015 · Schildbach, Georg et al. · indexed
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A Framework for Lane-Change Maneuvers of Connected Autonomous Vehicles in a Mixed-Traffic Environment ↗ · 2022 · Du, Runjia et al. · indexed
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Using naturalistic and driving simulator data to model driver responses to unintentional lane departures · 2024 · Svärd, Malin et al. · archived
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Investigating the Effect of Drivers’ Body Motion on Traffic Safety · 2015 · Barmpoutis, Angelos et al. · archived
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The automated lane-changing model of intelligent vehicle highway systems ↗ · 2003 · Li, Lingxi et al. · indexed
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The effect of varying levels of vehicle automation on drivers' lane changing behaviour. · 2018 · Madigan, Ruth et al. · archived
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Towards a Driver Model: Preliminary Study of Lane Change Behavior ↗ · 2008 · Dogan, Ueruen et al. · indexed
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Some Traffic Characteristics of Rural Roads in Iraq ↗ · 2021 · Al-Jameel, Hamid Athab et al. · indexed
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Some traffic characteristics of rural roads in Iraq · 2018 · Al-Jameel, Hamid Athab et al. · archived
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When Do Drivers Abort an Overtaking Maneuver on Two-Lane Rural Roads? · 2016 · Farah, Haneen · archived
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Express What I Think: The Impact of External Human-Machine Interfaces on the Performance of Lane Change Maneuvers · 2025 · Li, Ruolan et al. · archived
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Time to lane change and completion prediction based on Gated Recurrent Unit Network ↗ · 2019 · Yan, Zhanhong et al. · indexed
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Effects of pavement surface deformations on lane-changing behaviours ↗ · 2018 · Aydın, Metin Mutlu et al. · indexed
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Comparison of rule-based and machine learning methods for lane change detection ↗ · 2018 · Monot, Nolwenn et al. · indexed
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Impact of Regular and Narrow AV-Exclusive Lanes on Manual Driver Behavior · 2020 · Machiani, Sahar Ghanipoor et al. · archived
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Analysis of Driver Merging Behavior at Lane Drops on Freeways · 2013 · Edara, Praveen et al. · archived
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Multiobjective Optimization of Lane-Changing Strategy for Intelligent Vehicles in Complex Driving Environments ↗ · 2019 · Zhou, Jian et al. · indexed
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Lane-Change Response to Infrastructure Warning About Lane Closure in a Mixed Vehicle Fleet · 2025 · Svancara, Austin et al. · archived
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An efficient cooperative lane-changing algorithm for sensor- and communication-enabled automated vehicles ↗ · 2015 · Awal, Tanveer et al. · indexed
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Active Lane-Changing Control of Intelligent Vehicle on Curved Section of Expressway ↗ · 2022 · Feng, Pengfei et al. · indexed
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Lane Change Intent Analysis Using Robust Operators and Sparse Bayesian Learning ↗ · 2007 · McCall, J.C. et al. · indexed
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Human factors study of driver assistance systems to reduce lane departures and side collision accidents. · 2008 · Johnson, Steven L. · archived
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Optimal lane change motion of intelligent vehicles based on extended adaptive pseudo-spectral method under uncertain vehicle mass ↗ · 2017 · Fang, Zeping et al. · indexed
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Development of Machine-Learning Models for Autonomous Vehicle Decisions on Weaving Sections of Freeway Ramps · 2023 · Lin, Brian T W · archived
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Strategies and spacing requirements for lane changing and merging in automated highway systems ↗ · 2001 · Kanaris, A. et al. · indexed
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Extended Longitudinal Motion Planning for Autonomous Vehicles on Highways Including Lane Changing Prediction · 2020 · Khelfa, Basma et al. · archived
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Phase II : operational and safety-based analyses of varied toll lane configurations. · 2016 · Valdes, Didier et al. · archived
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Modeling Driver Behavior During Merge Maneuvers · 1997 · Kou, C. C. et al. · archived
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Stacking‐based ensemble learning method for the recognition of the preceding vehicle lane‐changing manoeuvre: A naturalistic driving study on the highway ↗ · 2022 · Zhang, Hongjia et al. · indexed
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Inference of large truck driver's intent to change lanes to pass a lead vehicle via analyses of driver's eye glance behavior in the real world ↗ · 2007 · Itoh, M. et al. · indexed
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Vehicle Lane Change Prediction on Highways Using Efficient Environment Representation and Deep Learning ↗ · 2021 · Izquierdo, Ruben et al. · indexed
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A Study of Driver Behavior Inference Model at Time of Lane Change using Bayesian Networks · 2006 · Tezuka, Shigeki et al. · archived
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Direction Convolutional LSTM Network: Prediction Network for Drivers’ Lane-Changing Behaviours ↗ · 2022 · Zhao, Nanbin et al. · indexed
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Multi-Level Feature Extraction and Classification for Lane Changing Behavior Prediction and POD-Based Evaluation · 2024 · Rastin, Zahra et al. · archived
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On-Road Vehicle Trajectory Collection and Scene-Based Lane Change Analysis: Part I ↗ · 2017 · Zhao, Huijing et al. · indexed
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Lane-Change Intention Estimation for Car-Following Control in Autonomous Driving ↗ · 2018 · Zhang, Yihuan et al. · indexed
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Advanced Operations Focused on Connected Vehicles/Infrastructure (CVI-UTC) · 2016 · Dingus, Thomas A et al. · archived
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Lane departure on combined curves: driver heterogeneity, centrifugal risk, and crash prevention · 2026 · Wang, Xiaomeng et al. · archived
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Balancing safety and support: Changing lanes with a haptic lane-keeping support system ↗ · 2010 · Tsoi, Kakin K. et al. · indexed
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Modeling Vehicle Interactions during Merge in Congested Weaving Section of Freeway Ramp ↗ · 2014 · Wan, Xia et al. · indexed
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Evaluation of the effectiveness of ATM messages used during incidents : final report. · 2016 · Rindels, Max et al. · archived
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Using Support Vector Machines for Lane-Change Detection ↗ · 2005 · Mandalia, Hiren M. et al. · indexed
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A passing gap acceptance model for two-lane rural highways ↗ · 2009 · Farah, Haneen et al. · indexed
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Passing Behavior on Two-Lane Roads in Real and Simulated Environments ↗ · 2016 · Llorca, Carlos et al. · indexed
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(final report). · 2010 · Lu, Jian John et al. · archived
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Compendium of student papers : 2009 undergraduate transportation engineering fellows program. · 2009 · Senesi, Christopher et al. · archived
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Intelligent control design of anticipation and relaxation behavior in real traffic flow ↗ · 2014 · Ghaffari, Ali et al. · indexed
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Accelerated Evaluation of Automated Vehicles Safety in Lane-Change Scenarios Based on Importance Sampling Techniques · 2016 · Zhao, Ding et al. · archived
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A Framework for Validating Traffic Simulation Models at the Vehicle Trajectory Level · 2017 · Xyntarakis, Michalis et al. · archived
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Adaptive and efficient lane change path planning for automated vehicles ↗ · 2016 · Heil, Thomas et al. · indexed
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Modeling Passing Behavior on Two-Lane Rural Highways: Evaluating Crash Risk under Different Geometric Condition · 2015 · Dyre, Brian P. et al. · archived
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A Study on a HMM-Based State Machine Approach for Lane Changing Behavior Recognition · 2022 · David, Ruth et al. · archived
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Lane‐changing control strategy for distributed drive vehicles considering yaw stability ↗ · 2025 · Hu, Jianjun et al. · indexed
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Cooperative Lateral Maneuvers Manager for Multi-autonomous Vehicles · 2018 · Assaad, Mohamad Ali et al. · archived
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Dynamics-Based Optimal Motion Planning of Multiple Lane Changes using Segmentation ↗ · 2022 · Anistratov, Pavel et al. · indexed
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Lane changing prediction at highway lane drops using support vector machine and artificial neural network classifiers ↗ · 2016 · Dou, Yangliu et al. · indexed
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State Machine Approach for Lane Changing Driving Behavior Recognition · 2020 · David, Ruth et al. · archived
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Interaction aware cooperative trajectory planning for lane change maneuvers in dense traffic ↗ · 2020 · Burger, Christoph et al. · indexed
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Exploring Cooperative Lane Change Decisions in Vehicle-to-Infrastructure – A Potential Conflict Analysis Approach · 2026 · FANG, Xushan et al. · archived
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Fuzzy Logic-based Techniques for Human Driver Behavior Modelling during a Simple Lane-changing Task · 2024 · Jirgl, Miroslav et al. · archived
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Lane Change Strategies for Autonomous Vehicles: A Deep Reinforcement Learning Approach Based on Transformer ↗ · 2022 · Li, Guofa et al. · indexed
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Evaluation of overtaking manoeuvres on two-lane rural roads ↗ · 2015 · Mohaymany, Afshin Shariat et al. · indexed
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Stackelberg Game Based on Trajectory Prediction for Lane Change in Mixed Traffic ↗ · 2025 · Shi, Baichuan et al. · indexed
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On-Ramp Merging Strategy Integrating Dynamic Lane-Changing Decision and Quasi-Uniform B-Spline Trajectory Optimization ↗ · 2024 · Xia, Sen et al. · indexed
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Robust Lane Change Decision Making for Autonomous Vehicles: An Observation Adversarial Reinforcement Learning Approach ↗ · 2022 · He, Xiangkun et al. · indexed
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Lane changing behavior recognition based on Artificial Neural Network-based State Machine approach · 2021 · David, Ruth et al. · archived
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Performance assessment of an adaptive model predictive control with torque braking for lane changes · 2026 · Zulkarnain, Zulkarnain et al. · archived
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A Human-like Trajectory Planning Method by Learning from Naturalistic Driving Data ↗ · 2018 · He, Xu et al. · indexed
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A Path Planning Method for Autonomous Vehicles Based on Risk Assessment ↗ · 2022 · Yang, Wei et al. · indexed
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Saturation Flow Rate Analysis for Shared Left-turn Lane at ignalized Intersections in Japan ↗ · 2011 · Chen, Peng et al. · indexed
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Study on the Capacity of Left-Through Shared Lane with Permitted Left-Turn Phasing ↗ · 2008 · Xu, Jian et al. · indexed
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