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Being one of the most simple and basic driving scenarios, highway scenario can be one of the first scenarios to achieve autonomous driving. Both car following (CF) and lane changing (LC) are the most basic and frequent maneuver during highway driving tasks, and therefore become two key issues to focus on in recent researches about autonomous vehicle (AV). Different from conventional CF and LC researches that attach much importance to the character, psychology, perception ability, and driving experience of human drivers, more timely and accurate reactions based on fast perception and communication technology as well as the automatic actuator are hypotheses for this research. Moreover, based on these hypotheses, a modified intelligent driver model (MIDM) is proposed for AVs’ following behavior to alleviate the fluctuations caused by lane changing behaviors.