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This paper describes the drivers steering behavior affected by the vehicle side slip angle during changing lanes. In order to investigate the influence of the sideslip angle to driver's steering behavior, driving simulator is employed to realize various vehicles with different side slip characteristics. We prepared three specifications, i.e. yaw rate and side-slip angle generate in the same direction, the opposite direction, and side-slip angle is kept to zero. In this study, we used two type second order prediction model.The one is the second order prediction by yaw rate and side-slip angle. Another one is the second order prediction by only yaw rate.And we discussed the effect of side-slip angle on the driver's forward prediction with compared the two prediction models.

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