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I. INTRODUCTIONUTOMATED driving has attracted significant attention because it has substantial potential for reducing driver workload and improving driving safety. There is an even more urgent need for automated truck driving owing to the labor shortage and aging problem of truck drivers [1], [2]. Lane change is a highly demanding driving task that induces a tremendous number of traffic accidents [3]. Therefore, the development of automated lane change systems has generated wide interest [4], [5].According to SAE "Levels of Driving Automation" Standard [6], before fully autonomous driving is available in This work was supported mainly by Hino Motors, Ltd. and partially supported by a Grant-in-Aid for Early-Career Scientists (no. 21K17781) from the Japan Society for the Promotion of Science. However, this article solely reflects its authors' opinions and conclusions and not Hino Motors.