A vehicle system includes a driving condition sensor mounted in a subject vehicle, the driving condition sensor detecting a driving condition related to the subject vehicle, a human-machine interface mounted in the subject vehicle, the human-machine interface configured to receive, from a user, a user preference input indicating a lane change parameter corresponding to the driving condition, and a processor coupled to the driving condition sensor and the human-machine interface. The processor is programmed to receive the user preference input from the human-machine interface, determine the driving condition from the driving condition sensor, and determine whether the assisted lane change should be performed based on the driving condition and the lane change parameter.