In order to solve the problem that the traditional two-vehicle cooperative lane change based on V2V communication has relatively low success rate and cannot guarantee the optimality of traffic efficiency when the condition of front traffic and surrounding vehicles is inaccurate or unknown， an ICV two stage cooperative obstacle-avoidance lane change method based on scene division is proposed in this paper. Firstly， the lane changing process is divided into longitudinal space adjustment stage and lateral lane changing stage， and quartic polynomial and quintic polynomial are used to describe the ICV trajectory of the two stages respectively. Then， four scenarios are designed based on the relative position of the vehicles when the longitudinal space adjustment ends， and a lane change model is designed with the vehicle’s final adjusted speed， distance， and lane change time as the objective functions to ensure the success rate of the lane change while reducing the impact of lane change behavior to the traffic flow. Finally， in order to verify the effectiveness of the algorithm， feasible working conditions are designed in the four scenarios. Through analyzing velocity-time and distance-time relationship diagrams of the spacing adjustment process， it is proved that the spacing adjustment process satisfies the safety constraints. In addition， by calculating the boundary value of the lane-changing obstacle avoidance algorithm by traversing the scenarios， it is illustrated that there exists a correlation between the ICV lane change obstacle avoidance success rate and the distance between vehicles and the distance between vehicles and obstacles.
