Vehicle lane changing model to safety avoid obstacles

This paper studies the behavior of vehicles lane-changing on the road for the operational characteristics. And paper analysis of the kinematics of the vehicle during lane changes. And paper makes the conditions to avoid a collision. For a given lane-changing process, paper derives the minimum initial longitudinal safety space to avoid vehicle collisions. Paper establishes minimum safety space model. With curvature constraints, the process of completion time obtained for the lane-changing. Paper analyzes the minimum safe space model.