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Abstract. In this paper, we study the virtual trajectory planning method for lane changing of vehicle in automated highway system, derivate the trajectory model for lane changing on circular road by using odd-order polynomial constraints. Based on the trajectory model for lane changing on straight road, the motion for lane changing of vehicle on circular road can be decomposed into the linear centripetal motion and the circular motion around the instantaneous centre of the circle road. The simulation results verify the feasibility of trajectory planning method for lane changing proposed in this paper on circular road.