Recent developments and research needs in modeling lane changing

•A comprehensive review on modeling lane-changing behavior is long overdue.•Developments in modeling lane-changing decision-making and impact were reviewed.•Methodologies, features, and limitations of representative models were discussed.•Common issues and research needs in lane-changing modeling were pinpointed.

This paper comprehensively reviews recent developments in modeling lane-changing behavior. The major lane changing models in the literature are categorized into two groups: models that aim to capture the lane changing decision-making process, and models that aim to quantify the impact of lane changing behavior on surrounding vehicles. The methodologies and important features (including their limitations) of representative models in each category are outlined and discussed. Future research needs are determined.