The existing minimum safe distance lane changing feasibility test models usually consider the surrounding vehicles in the lane-keeping and only discuss the influence of the vehicles in present lane and the target lane. The influences of the surrounding vehicles in the lane-changing or in the interphase lane are not considered. To ensure that the vehicle would not collide with the surrounding vehicles during the lane-changing, a modified lane changing feasibility test model which considered the surrounding vehicles (in the adjacent lanes and in the interphase lanes) in the lane-changing or lane-keeping state was proposed. Firstly, the logic framework of lane-changing was analyzed. The trajectory tracking control was then completed based on the model predictive control (MPC) method. Finally, a simulation comparison test was designed and the proposed model and method were verified by the PreScan and Simulink co-simulation. The simulation results show that the proposed improved lane-changing feasibility test model is safer and more efficient than the existing model. The tracking error of the MPC controller is within 1 cm, suggesting that the proposed model has high tracking accuracy.