VEHICLE LANE CHANGING

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to, in response to an initiation of a lane-change mode by a host vehicle, determine a maximum number of timesteps for which at least one constraint on a host kinematic state of the host vehicle and a target kinematic state of at least one target vehicle is satisfiable; and, in response to the maximum number of timesteps exceeding a timestep threshold, actuate a component of the host vehicle to perform a lane change from a current lane of the host vehicle to a target lane adjacent to the current lane.