# Modeling of Lane Changing Behavior of Connected Driving Based on Vehicle Interaction Potential
## 4 Model Verification  
### Numerical Simulation Analysis  
Based on the above analysis of acceptable lane changing clearance, Python3.0 software was used for numerical simulation to analyze the change in acceptable lane changing clearance under different vehicle speeds and accelerations. 1.1 Simulation Analysis of Acceptable Clearance of Lane Changing between Vehicle \(M\) and Vehicle \(TL\)  
The simulation of the acceptable clearance of vehicle \(M\) and vehicle \(TL\) for lane changing is carried out by establishing a space coordinate system with the speed of the two vehicles as the \(x\) and \(y\) axes and the acceptable clearance for lane changing as the \(z\) axis, and then output the relation surface between the speed of the two vehicles and the acceptable clearance for lane changing. The acceleration of the lane changing vehicle \(a_{M}\) is set to the variation scale of 0.2 m\(\cdot\)s\({}^{-2}\) within the range of 2 m\(\cdot\)s\({}^{-2}\)\(\sim\) 3 m\(\cdot\)s\({}^{-2}\). In reference [19], the parameters were calibrated as \(t_{0}=1.5,c_{v}=0.05,c_{a}=0.3\), the length of \(w=3.5\), and lane changing angle \(\theta=3^{\circ}\), and the following parameter values are the same. Based on the assumption \(v_{M}<v_{TL}\) above, the change in acceptable clearance between vehicle \(M\) and vehicle \(TL\) for lane changing in the case of acceleration of \(a_{TL}=-1\) m\(\cdot\)s\({}^{-2}\), \(a_{TL}=0\) m\(\cdot\)s\({}^{-2}\), \(a_{TL}=1\) m\(\cdot\)s\({}^{-2}\), and in the target lane is plotted, respectively, as shown in Figure 10.  
It can be seen from the results that the acceptable lane changing clearance is determined by the speed and acceleration of vehicle \(M\) and vehicle \(TL\). As the speed difference between vehicle \(TL\) and vehicle \(M\) increases, the acceptable lane changing clearance decreases. With the increase in vehicle \(M\) acceleration, the acceptable clearance of lane changing increases. With the increase in \(TL\) acceleration of the leading vehicle in the target lane,  
Figure 10: Acceptable lane changing clearance between vehicle \(M\) and vehicle \(TL\). the acceptable lane changing clearance decreases. In the process of lane changing in the network environment, in order to meet the speed expectation of the lane changing vehicle, the vehicle \(TL\) is accelerated without slowing down to ensure the safety of lane changing. 1.2 Simulation Analysis of Acceptable Clearance of Lane Changing between Vehicle \(M\) and Vehicle \(Tf\)  
The simulation of the acceptable clearance of lane changing between vehicle \(M\) and vehicle \(TF\) is carried out, and the parameter settings are the same as above. Based on the above assumption \(v_{M}<v_{TF}\), the change in acceptable lane clearance between vehicle \(M\) and vehicle \(TF\) when the target lane follows vehicle \(TF\) at the acceleration of \(a_{TF}=-1\) m\(\cdot\)s\({}^{-2}\), \(a_{TF}=0\) m\(\cdot\)s\({}^{-2}\), and \(a_{TF}=1\) m\(\cdot\)s\({}^{-2}\), respectively, is drawn, as shown in Figure 11.  
It can be seen from the results that the acceptable clearance of lane changing is determined by the speed and acceleration of vehicle \(M\) and vehicle \(TF\). As the speed difference between vehicle \(TF\) and vehicle \(M\) increases, the acceptable clearance of lane changing increases. With the increase in vehicle \(M\) acceleration, the acceptable clearance of lane changing decreases. With the increase in vehicle \(TF\) speed in the target lane, the acceptable clearance of lane changing increases. In the process of lane changing in a networked environment, in order to meet the expectations of lane changing vehicles, vehicle \(TF\) is slowed down to ensure lane changing safety when vehicle \(M\) is at a constant speed or accelerating. 1.3 Simulation Analysis of Acceptable Clearance of Lane Changing between Vehicle \(M\) and Vehicle \(L\)  
Simulation of acceptable clearance of lane changing of vehicle \(M\) and vehicle \(L\) are carried out, and the parameter settings are the same as above.