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Automatic lane change of intelligent vehicles is a complex process. Besides of safety, feelings of the driver and passengers during the lane change are also very important. In this paper, a lane change trajectory planner is designed to generate an ideal collision-free trajectory to satisfy the driver’s preference. Various lane changing modes, gentle lane change, general lane change, radical lane change and personalized lane change, are designed to meet the needs of different passengers on vehicles simultaneously. In this paper, the condition of the two-lane change is studied. One vehicle is in front of the ego vehicle at the same lane and one is at the rear of the ego vehicle at the target lane. A trajectory planning method is then established based on constant speed offset and sine curve, vehicle distances and speed difference, etc. The key factors which can reflect drivers’ lane change characteristics are then acquired.