lane change planner and controller models

I'm currently working on a project for the establishment of a communication between the autonomous vehicle and its environment V2X, and one of the parts of this project is a lane change maneuver. So can someone please provide for me a Simulink model for this part (path planner and controller) other than the example given in the automated driving toolbox especially if it uses quintic polynomial for motion planning and PID for the controller, Any help would be greatly appreciated.