[Purposes] The frequent occurrence of dangerous driving behaviors, such as sudden braking and abrupt lane changes, has threatened traffic safety near harbor-type emergency parking strip. This paper aims to improve the current state of traffic safety by optimizing the position of guidance signs for harbor-type emergency parking strip, comparing and analyzing the lane-changing decision and process of drivers, and searching for the shortest advance distance for guidance signs. [Methods] Five fronting distance scenarios were set up in a driving simulator: the current scenario (P0), 320 meters in advance (P320), 350 meters in advance (P350), 380 meters in advance (P380), and 410 meters in advance (P410). Forty-three drivers completed the experiment. Generalized Estimating Equations (GEE) were used to analyze whether drivers change lanes in advance, the decision-making process, and the lane-changing action progress. [Findings] Results show that the P350, P380, and P410 plans are more beneficial for drivers to change lanes before the emergency parking strip compared to the P0 and P320 plans. There is an increase in the proportion of vehicles changing lanes in advance, smoother drivers’ response, earlier initiation location of lane-changing, smaller standard deviation of the steering wheel angle during the lane-changing process, lower average deceleration rates, and longer duration distance of lane-changing. [Conclusions] Therefore, the 350m advance distance was identified as the minimum advance distance in this experiment. The findings of this study can provide theoretical support for more detailed specifications in supplementary design guidelines regarding the placement of guidance signs for harbor-type emergency parking strip.