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Mandatory lane change(MLC)plays a fundamental role in formulating global route of an autonomous vehicle on urban road network.Improper MLC decisions on arterial roads will jeopardize travel cost and reliability.However,the existing researches seldom investigate the optimal MLC decision at strategic level to maximize the driving efficiency.This research is motivated to address this gap.Specifically,MLC decision point on the road and maximum waiting time before giving up MLC are identified as two core strategic decision variables.A comprehensive simulation experiments for various scenarios are conducted for an arterial road.The results reveal that,both identified decision variables inherently affect travel time spent on this road and the rate of failed MLCs,and a trade-off exists between arterial travel time and the rate of failed MLCs.Based on the simulation analysis,an analytical lane-level link performance(LLP)function is formulated.The analysis validates the performance of proposed LLP function in characterizing the effect of MLC behavior on travel efficiency,and the optimal MLC strategic decision(MLC decision position and maximum waiting time)can be determined by maximizing LLP function.It is promising to apply the proposed LLP function in lane-level route guidance.| Mandatory lane change(MLC)plays a fundamental role in formulating global route of an autonomous vehicle on urban road network.Improper MLC decisions on arterial roads will jeopardize travel cost and reliability.However,the existing researches seldom investigate the optimal MLC decision at strategic level to maximize the driving efficiency.This research is motivated to address this gap.Specifically,MLC decision point on the road and maximum waiting time before giving up MLC are identified as two core strategic decision variables.A comprehensive simulation experiments for various scenarios are conducted for an arterial road.The results reveal that,both identified decision variables inherently affect travel time spent on this road and the rate of failed MLCs,and a trade-off exists between arterial travel time and the rate of failed MLCs.Based on the simulation analysis,an analytical lane-level link performance(LLP)function is formulated.The analysis validates the performance of proposed LLP function in characterizing the effect of MLC behavior on travel efficiency,and the optimal MLC strategic decision(MLC decision position and maximum waiting time)can be determined by maximizing LLP function.It is promising to apply the proposed LLP function in lane-level route guidance.