In heavily congested traffic, gaps for lane changing are difficult to find. In these cases drivers may nose into the target lane and force the lag vehicle to yield. For this reason the concept of nosing has been introduced. If a vehicle has been tagged as in mandatory lane change state and the current lead or lag gaps are not acceptable, a vehicle may nose in with some probability. In this case the vehicle is tagged as in nosing state. The nosing state is maintained until the desired lane change is made. A nosing vehicle then conducts a feasibility check in each iteration and tags the lag vehicle as in yielding state if the nosing is feasible. The nosing and yielding vehicles are pairwise coordinated and apply appropriate acceleration rates to create the necessary gaps.