## 1 Introduction  
### Motivation  
According to statistics from the National Highway Traffic Safety Administration, from 2020 to 2021, estimated crashes caused by motor vehicles increased 11.25 percent from 2,425,374 to 2,698,338 [1]. Traffic safety is always the top priority when traveling [2]. In addition, about 94% of traffic accidents are caused by drivers' own reasons, such as lack of concentration and fatigue driving [3], of which accidents caused by lane changing behavior account for 4% to 10% [4]. Intelligent transportation systems, especially autonomous driving technology, are regarded as an effective solution to deal with the complex traffic environments in the future and have attracted widespread attention from people in all walks of life. It can relieve traffic pressure and reduce traffic accidents. At present, the research and development of autonomous driving technology is widely carried out in academia and industry [5, 6, 7, 8, 9], mainly involving decision making, planning and control. Among them, intelligent vehicle autonomous lane changing is an important application scenario, and it is also one of the links to traffic behaviors such as overtaking and U-turns [10], which have become a current research hotspot. Compared with the lane keeping system, the autonomous lane changing system is mainly used in a more complex dynamic environment, which needs to consider the surrounding environment facilities and other vehicles, and the conditions are more severe. These include wrong lane changing decisions, unreasonable path planning or invalid control algorithms that have the potential to cause traffic jams or even traffic accidents [11]. A complete autonomous lane changing system can be divided into four parts: perception and communication module, lane change decision module, path planning module and trajectory tracking module [12]. The in-vehicle communication system can make up for the shortcomings of the sensor itself. Through wireless communication modes, such as V2I and V2V, autonomous vehicles can obtain more real-time traffic data to optimize their driving strategies [13; 14]. In addition, 5G will further enhance the V2X information interaction capability, making communication more convenient and faster [15]. The purpose of lane changing decision making is to determine when to change lanes. During the lane changing process, vehicles should ensure safe driving and not collide with surrounding facilities and vehicles. When there is a risk in lane changing, the lane changing behavior should be stopped immediately [16; 17]. The path planning module comprehensively considers factors, such as obstacle avoidance, stability constraints, lane changing efficiency, etc., and plans the optimal lane changing curve according to the real-time traffic environment. The path planning module acts as a bridge between decision making and trajectory tracking control modules. The planned lane changing trajectory after receiving the lane changing command issued by the decision-making module will directly affect the accuracy of trajectory tracking and passenger comfort. The trajectory tracking module calculates the vehicle's turning angle, driving force (throttle valve opening), etc., as input through the lateral and longitudinal displacement, speed, curvature, and other information of the planned path so that the vehicle can follow the planned path as precisely as possible [5].