Abstract: Aiming at safety problems of intelligent vehicles during lane-changing, a safe autonomous lane-changing model of intelligent networked vehicles is proposed. In the two-lane scenario, based on the vehicle-to-vehicle communication technology, the motion state information of the lane-changing vehicle and surrounding vehicles is obtained. The cooperative lane-changing decision model is established by game theory. Based on Model Prediction Control (MPC) theory, lane-changing trajectory tracking controller is designed. Through simulation, compared with the current research methods, the quantitative analysis verifies that the designed trajectory trackingcontroller realizes the safe and accurate lane-changing of the intelligent vehicle.