such as one on each side of the vehicle 10 the control module 58 can similarly check the availability of the second adjacent lane and choose the adjacent lane 222 if any which allows for the steering profile 286 with the greatest margin of safety and comfort returning to step 328 of fig3 if the adjacent lane is not available as determined by step 638 of fig6 then the routine 310 can proceed to step 322 and end or restart as described above if the adjacent lane is available as determined by step 638 of fig6 then the routine 310 can proceed to step 330 at step 330 the control module 58 can send a signal to the steering system 30 to control the steering system 30 to adjust the steering angle 110 in accordance with the steering profile 286 and begin changing lanes it is understood that if multiple steering profiles 286 were calculated then the control module 58 can choose an optimal one of the steering profiles 286 based on any number of factors including safety margins of error or occupant comfort levels after the vehicle 10 has begun the lane change maneuver the routine 310 can proceed to step 334 at step 334 the control.