LANE-BASED VEHICLE CONTROL

In response to an initiation of a lane-change, a speed of a host vehicle in a current lane can be adjusted to establish a forward longitudinal distance from a lead vehicle in a target lane. The host vehicle is then moved from a first lateral position to a second lateral position in the current lane based on determining that a rear longitudinal distance of the host vehicle from a trailing vehicle in the target lane is less than a rear distance threshold, and then is additionally moved the host vehicle from the second lateral position to a third lateral position in the current lane based on determining that the rear longitudinal distance is increasing. When the forward longitudinal distance exceeds a forward distance threshold and the rear longitudinal distance exceeds the rear distance threshold, the vehicle is moved from the current lane to the target lane.