One of the riskiest maneuvers that a driver has to perform in a conventional highway system is tomerge into the traffic and/or to perform a lane changing maneuver. Lane changing/mergingcollisions are responsible for one-tenth of all crash-caused traffic delays often resulting incongestion. Traffic delays and congestion, in general, increases travel time and has a negativeeconomic impact.In this paper, we analyze the kinematics of the vehicles involved in a lane changing/mergingmaneuver, and study the conditions under which lane changing/merging crashes can be avoided.That is, given a...