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The behaviors of heavy vehicles drivers in mandatory and discretionary lanechanges are analyzed in this paper. 640 mandatory and 2,035 discretionary lanechange events were extracted from a naturalistic driving database. Variationsin gap acceptance and lane change duration were investigated. Statisticalanalysis showed that mandatory lane changes are more aggressive in gapacceptance and lane change execution than discretionary lane changes. Theresults can be used for microscopic simulations, and design and evaluation ofdriver-assistant systems.

Analysis of mandatory and discretionary lane change behaviors for heavy trucks