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This paper aims to investigate the characteristics of discretionary lane change (LC) duration on freeways based on an enriched dataset that contains the LC vehicle trajectories of 2905 passenger cars and 433 heavy vehicles. The LC duration is comprehensively analysed, and four stochastic LC duration models are established according to vehicle type and LC direction. LC duration varies with vehicle type and LC direction. Considering driver heterogeneity, accelerated failure time (AFT) models with fixed parameters, latent classes, and random parameters were established in this paper. The results show that drivers of heavy vehicles display greater heterogeneity and that vehicle types and LC directions have significant influence on the LC duration. The results of this study are helpful for understanding the mechanism of the LC process and the influence of LC on traffic flow and improving the safety of lane-changing behaviours of connected and autonomous vehicles.

Analysing and modelling of discretionary lane change duration considering driver heterogeneity