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This study developed a pair of lane changing (LC) model and car following (CF) model. They are used to investigate mutually adaptive maneuver of LC vehicle (LCV) and its immediate CF vehicle during the LCV's inserting process. The two models are developed based on a multianticipative CF model to simulate both of the LC and LC-adaptive CF maneuvers. A group of pairwise parameters are applied in the models to reflect the stimuli perceived by the two vehicle drivers simultaneously. Based on the united model framework, the features of the two vehicle maneuvers which are mutually and intensively influenced can be compared and analyzed. Vehicle trajectories collected on the urban arterial are applied to calibrating and validating the two models. Results show that the developed models can fit the trajectories in a higher accuracy than the previous models. The estimates of the model parameters revealed that dynamics of lateral moving vehicle influence the LC and CV maneuvers in different ways. It is found that the lateral influence has the heaviest influence on the vehicle maneuvers than other stimuli. The vehicles also adjust their maneuvers along with the change of traffic signal or LC target.

Modelling and Analysis of Mutually Adaptive Vehicle Maneuvers During the Inserting Process of Lane Changing Vehicle in Urban Driving Context