An autonomous vehicle automatically implements an intention aware lane change with a safety guaranteed lane biased strategy. To make a lane change, the autonomous vehicle first navigates within the current lane to near the edge of the current lane, to a position offset by a bias. By navigating to the edge of the lane, the autonomous vehicle provides a physical and virtual notification, in addition to a turn signal, that it is the intention of the vehicle to change into the lane adjacent to the edge of the lane in which the vehicle has navigated to. After performing a safety check and waiting for a minimum period of time during which vehicles in the adjacent lane can be assumed to have been warned or been put on notice of the lane change, the autonomous vehicle navigates into the adjacent lane.
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