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Lane change is a common type of driving maneuvers in daily travelling,and is a key functionality that is required of autonomous vehicles.For the design and development of autonomous driving systems,the actions taken and behaviors exhibited by human drivers in real world traffic conditions are importantly useful reference information.In this paper,we extract and analyze lane changing characteristics(e.g.trajectories,headway and spacing gaps)based on real-world traffic data,the NGSIM dataset,to understand the lane change behaviors.