Abstract: Using the minimum safety distance as an index of safelane-changing,the kinematics of the vehicle,which involved lane-changing maneuvers is analyzed.After studying the critical condition of avoiding collision,the minimum safety distance lane-changing model between lane-changing vehicle and its nearby vehicles is built.After analysing the movement state of the relatedvehicles when a vehicle is changing lanes,all kinds of collisions between lane-changing vehicle and related vehicles are given.This model fully considers car-following safety when lane change is finished,which can not only improve the safty security when vehicle changes lanes,but also improve the efficiency of theroads.Finally,simulation was carried out on the matlab simulation platform basedon the theories of lane-changing model and minimum saftey distance.The resultsshow that the minimum safe lane-changing distance is related to lane-changingvehicle acceleration,lane-changing time and the relative velocity between vehicles.

Key words: traffic flow, lane changing, acceleration, car-following, minimum safety distance