Vehicle behavior modeling method based on collision time and vehicle distance

The invention discloses a vehicle behavior modeling method based on collision time and vehicle distance, and the method comprises the steps: S1, dividing the driving state of a vehicle into a free driving state, a vehicle following state and a lane changing state, supposing that the vehicle receives the effects of attraction force and repulsive force, and when the vehicle determines whether to change a lane or not, executing the step S2; comparing whether the resultant force borne by the vehicle at the target position exceeds a preset threshold value of the resultant force borne by the current position or not, maintaining for preset time, if yes, changing the lane, and if not, not changing the lane. According to the vehicle behavior modeling method based on the collision time and the vehicle distance, vehicle behavior modeling is conducted through a simple mathematical expression, the related driving states comprise the free driving state, the vehicle following state and the lane changing state, and vehicle b